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Merge pull request #824 from fmessmer/add_cob4-30_ostwestfalen
add cob4-30 ostwestfalen
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| <?xml version="1.0"?> | ||
| <launch> | ||
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| <arg name="env-script" default="$(find cob_bringup)/env.sh"/> | ||
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| <include file="$(find cob_bringup)/robots/cob4-30.xml"> | ||
| <arg name="b1" value="b1"/> | ||
| <arg name="t1" value="t1"/> | ||
| <arg name="t2" value="t2"/> | ||
| <arg name="t3" value="t3"/> | ||
| <arg name="h1" value="h1"/> | ||
| <arg name="env-script" value="$(arg env-script)"/> | ||
| </include> | ||
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| </launch> |
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| <?xml version="1.0"?> | ||
| <launch> | ||
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| <!-- args --> | ||
| <arg name="robot" value="cob4-30"/> | ||
| <arg name="b1" default="localhost"/> | ||
| <arg name="t1" default="localhost"/> | ||
| <arg name="t2" default="localhost"/> | ||
| <arg name="t3" default="localhost"/> | ||
| <arg name="h1" default="localhost"/> | ||
| <arg name="env-script" default="$(find cob_bringup)/env.sh"/> | ||
| <arg name="sim" default="false"/> | ||
|
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| <!-- upload robot description --> | ||
| <include file="$(find cob_hardware_config)/upload_robot.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| </include> | ||
| <!-- upload semantic description --> | ||
| <include file="$(find cob_moveit_config)/launch/upload_config.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="load_semantic_description" value="true"/> | ||
| <arg name="load_planning_context" value="false"/> | ||
| </include> | ||
| <!-- upload default configuration parameters --> | ||
| <include file="$(find cob_default_robot_config)/upload_param.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| </include> | ||
|
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| <group> | ||
| <machine name="$(anon b1)" address="$(arg b1)" env-loader="$(arg env-script)" default="true" timeout="30"/> | ||
|
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| <!-- start hardware --> | ||
| <group unless="$(arg sim)"> | ||
| <include file="$(find cob_bringup)/tools/pc_monitor.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="pc" value="$(arg b1)"/> | ||
| <arg name="enable_ntp_monitoring" value="false"/> | ||
| </include> | ||
| </group> | ||
|
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| <include file="$(find cob_bringup)/drivers/sick_flexisoft.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="host" value="10.4.30.99"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| </include> | ||
| <include file="$(find cob_bringup)/drivers/bms.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| </include> | ||
| <include file="$(find cob_bringup)/drivers/sick_s300.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="name" value="base_laser_front"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| </include> | ||
| <include file="$(find cob_bringup)/drivers/sick_s300.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="name" value="base_laser_right"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| </include> | ||
| <include file="$(find cob_bringup)/drivers/sick_s300.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="name" value="base_laser_left"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| </include> | ||
|
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| <include file="$(find cob_bringup)/components/cob4_base.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| </include> | ||
| <include file="$(find cob_bringup)/drivers/light.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="component_name" value="light_base"/> | ||
| <arg name="sim_enabled" value="$(arg sim)"/> | ||
| </include> | ||
|
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| <!-- start common nodes used in hardware and simulation --> | ||
| <include file="$(find cob_bringup)/drivers/scan_unifier.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/> | ||
| <arg name="output_scan" value="/scan_unified"/> | ||
| </include> | ||
| <include file="$(find cob_bringup)/tools/base_collision_observer.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| </include> | ||
| <!-- <include file="$(find cob_bringup)/tools/collision_monitor.launch"> --> | ||
| <node pkg="rostopic" type="rostopic" args="pub /safety_controller/state_is_valid std_msgs/Bool 'data: true' -r10" name="fake_collission_monitor" output="screen"/> | ||
|
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| <include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| </include> | ||
| <include file="$(find cob_bringup)/tools/emergency_stop_monitor.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| </include> | ||
| <include file="$(find cob_bringup)/tools/battery_monitor.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| </include> | ||
| <include file="$(find cob_bringup)/tools/teleop.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| </include> | ||
| <include file="$(find cob_bringup)/tools/docker_control.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="multi_station" default="true"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| </include> | ||
| <include file="$(find cob_bringup)/tools/robot_state_publisher.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| </include> | ||
|
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| <!-- simulation only --> | ||
| <include if="$(arg sim)" file="$(find cob_bringup)/tools/fake_diagnostics.launch"> | ||
| <arg name="fake_diagnostics" value="'base_laser_front, base_laser_right, base_laser_left, b1, t1, t2, t3, h1, joy, safety'"/> | ||
| </include> | ||
| </group> | ||
|
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| <group> | ||
| <machine name="$(anon t1)" address="$(arg t1)" env-loader="$(arg env-script)" default="true" timeout="30"/> | ||
|
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| <!-- start hardware --> | ||
| <group unless="$(arg sim)"> | ||
| <include file="$(find cob_bringup)/tools/pc_monitor.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="pc" value="$(arg t1)"/> | ||
| <arg name="ntp_server" value="$(arg b1)"/> | ||
| </include> | ||
| </group> | ||
|
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| <include file="$(find cob_bringup)/components/canopen_generic.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="component_name" value="torso"/> | ||
| <arg name="can_device" value="can0"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| <arg if="$(arg sim)" name="cartesian_control" value="true"/> | ||
| </include> | ||
|
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| <include file="$(find cob_bringup)/components/canopen_generic.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="component_name" value="arm_left"/> | ||
| <arg name="can_device" value="can2"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| <arg name="use_external_sync" value="false"/> | ||
| <arg name="start_external_sync" value="false"/> | ||
| </include> | ||
| <include file="$(find cob_bringup)/components/canopen_generic.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="component_name" value="arm_right"/> | ||
| <arg name="can_device" value="can1"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| <arg name="use_external_sync" value="false"/> | ||
| <arg name="start_external_sync" value="false"/> | ||
| </include> | ||
|
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| <include file="$(find cob_bringup)/components/cam3d_d435_rgbd.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="name" value="torso_cam3d_left"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| <arg name="flip" value="true"/> | ||
| <arg name="serial_no" value="xxxxxxxxxxxx"/> | ||
| </include> | ||
|
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| <include file="$(find cob_bringup)/drivers/light.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="component_name" value="light_torso"/> | ||
| <arg name="sim_enabled" value="$(arg sim)"/> | ||
| </include> | ||
|
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| <!-- start common nodes used in hardware and simulation --> | ||
| <include file="$(find cob_script_server)/launch/script_server.launch"/> | ||
| <include file="$(find cob_bringup)/tools/behavior.launch"/> | ||
| <include file="$(find cob_bringup)/tools/android.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| </include> | ||
| </group> | ||
|
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| <group> | ||
| <machine name="$(anon t2)" address="$(arg t2)" env-loader="$(arg env-script)" default="true" timeout="30"/> | ||
|
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| <!-- start hardware --> | ||
| <group unless="$(arg sim)"> | ||
| <include file="$(find cob_bringup)/tools/pc_monitor.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="pc" value="$(arg t2)"/> | ||
| <arg name="ntp_server" value="$(arg b1)"/> | ||
| </include> | ||
| </group> | ||
|
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| <include file="$(find cob_bringup)/components/cam3d_d435_rgbd.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="name" value="torso_cam3d_down"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| <arg name="flip" value="true"/> | ||
| <arg name="serial_no" value="xxxxxxxxxxxx"/> | ||
| </include> | ||
| </group> | ||
|
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| <group> | ||
| <machine name="$(anon t3)" address="$(arg t3)" env-loader="$(arg env-script)" default="true" timeout="30"/> | ||
|
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| <!-- start hardware --> | ||
| <group unless="$(arg sim)"> | ||
| <include file="$(find cob_bringup)/tools/pc_monitor.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="pc" value="$(arg t3)"/> | ||
| <arg name="ntp_server" value="$(arg b1)"/> | ||
| </include> | ||
| </group> | ||
| <include file="$(find cob_bringup)/components/cam3d_d435_rgbd.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="name" value="torso_cam3d_right"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| <arg name="flip" value="true"/> | ||
| <arg name="serial_no" value="xxxxxxxxxxxx"/> | ||
| </include> | ||
|
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| <include file="$(find cob_bringup)/components/canopen_generic.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="component_name" value="gripper_left"/> | ||
| <arg name="can_device" value="can1"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| <arg name="use_external_sync" value="false"/> | ||
| <arg name="start_external_sync" value="false"/> | ||
| </include> | ||
|
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| <include file="$(find cob_bringup)/components/canopen_generic.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="component_name" value="gripper_right"/> | ||
| <arg name="can_device" value="can0"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| <arg name="use_external_sync" value="false"/> | ||
| <arg name="start_external_sync" value="false"/> | ||
| </include> | ||
| </group> | ||
|
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| <group> | ||
| <machine name="$(anon h1)" address="$(arg h1)" env-loader="$(arg env-script)" default="true" timeout="30"/> | ||
|
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| <!-- start hardware --> | ||
| <group unless="$(arg sim)"> | ||
| <include file="$(find cob_bringup)/tools/pc_monitor.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="pc" value="$(arg h1)"/> | ||
| <arg name="ntp_server" value="$(arg b1)"/> | ||
| </include> | ||
| </group> | ||
|
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| <include file="$(find cob_bringup)/components/cam3d_d435_rgbd.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="name" value="sensorring_cam3d"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| <arg name="flip" value="true"/> | ||
| <arg name="serial_no" value="xxxxxxxxxxxx"/> | ||
| </include> | ||
|
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| <include file="$(find cob_bringup)/components/cob4_head_camera.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| </include> | ||
|
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| <!-- start common nodes used in hardware and simulation --> | ||
| <include file="$(find cob_bringup)/drivers/sound.launch"> | ||
| <arg name="robot" value="$(arg robot)"/> | ||
| </include> | ||
| </group> | ||
|
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| <group> <!-- this is a special group to assign DISPLAY:=0 only to the mimic node (and not to all other nodes, e.g. sound node) --> | ||
| <machine name="$(anon h1_display)" address="$(arg h1)" env-loader="$(arg env-script).display" default="true" timeout="30"/> | ||
| <include file="$(find cob_bringup)/drivers/mimic.launch"> | ||
| <arg name="sim" value="$(arg sim)"/> | ||
| </include> | ||
| </group> | ||
|
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| <machine name="$(anon b1)" address="$(arg b1)" env-loader="$(arg env-script)" default="true" timeout="30"/> | ||
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| </launch> |
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cob_default_robot_config/robots/cob4-30/script_server/arm_left_joint_configurations.yaml
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| ../../cob4/script_server/arm_left_joint_configurations.yaml |
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cob_default_robot_config/robots/cob4-30/script_server/arm_right_joint_configurations.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1 @@ | ||
| ../../cob4/script_server/arm_right_joint_configurations.yaml |
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cob_default_robot_config/robots/cob4-30/script_server/base_configurations.yaml
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1 @@ | ||
| ../../cob4/script_server/base_configurations.yaml |
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cob_default_robot_config/robots/cob4-30/script_server/behavior.yaml
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| ../../cob4/script_server/behavior.yaml |
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cob_default_robot_config/robots/cob4-30/script_server/command_gui_buttons.yaml
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| #group: | ||
| # group_name: <group_name> | ||
| # component_name: <component_name> | ||
| # buttons: [[button_name1,function_name1,parameter_name2, | ||
| # [button_name2,function_name2,parameter_name2]] | ||
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| group10: | ||
| group_name: base | ||
| component_name: base | ||
| buttons: [[stop,stop,omni], | ||
| [init,init], | ||
| [recover,recover]] | ||
| group12: | ||
| group_name: arm_left | ||
| component_name: arm_left | ||
| buttons: [[stop,stop], | ||
| [init,init], | ||
| [recover,recover], | ||
| [home,move,home], | ||
| [folded,move,folded], | ||
| [side, move, side], | ||
| [wave_demo, move, wave_demo], | ||
| [hello, move, hello]] | ||
| group13: | ||
| group_name: arm_right | ||
| component_name: arm_right | ||
| buttons: [[stop,stop], | ||
| [init,init], | ||
| [recover,recover], | ||
| [home,move,home], | ||
| [folded,move,folded], | ||
| [side, move, side], | ||
| [wave_demo, move, wave_demo], | ||
| [hello, move, hello]] | ||
| group14: | ||
| group_name: gripper_left | ||
| component_name: gripper_left | ||
| buttons: [[stop,stop], | ||
| [init,init], | ||
| [recover,recover], | ||
| [home,move,home], | ||
| [open,move,open], | ||
| [close, move, close]] | ||
| group15: | ||
| group_name: gripper_right | ||
| component_name: gripper_right | ||
| buttons: [[stop,stop], | ||
| [init,init], | ||
| [recover,recover], | ||
| [home,move,home], | ||
| [open,move,open], | ||
| [close, move, close]] | ||
| group16: | ||
| group_name: torso | ||
| component_name: torso | ||
| buttons: [[stop,stop], | ||
| [init,init], | ||
| [recover,recover], | ||
| [front,move,front], | ||
| [back,move,back], | ||
| [left,move,left], | ||
| [right,move,right], | ||
| [shake,move,shake]] | ||
| group21: | ||
| group_name: mimic | ||
| component_name: behavior | ||
| buttons: [[laughing,trigger,setMimicLaughing], | ||
| [asking,trigger,setMimicAsking], | ||
| [SayYes,trigger,setMimicYes], | ||
| [blinkingRight,trigger,setMimicBlinkingRight], | ||
| [confused,trigger,setMimicConfused], | ||
| [angry,trigger,setMimicAngry], | ||
| [sleep,trigger,setMimicFallingAsleep]] | ||
| group22: | ||
| group_name: light | ||
| component_name: behavior | ||
| buttons: [[cyanBreath,trigger,setLightCyanBreath], | ||
| [cyan,trigger,setLightCyan], | ||
| [red,trigger,setLightRed], | ||
| [green,trigger,setLightGreen], | ||
| [cyanSweep,trigger,setLightCyanSweep]] | ||
| group23: | ||
| group_name: sound | ||
| component_name: behavior | ||
| buttons: [[hello,trigger,soundHello]] |
9 changes: 9 additions & 0 deletions
9
cob_default_robot_config/robots/cob4-30/script_server/gripper_left_joint_configurations.yaml
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| joint_names: [gripper_left_finger_left_joint] | ||
| action_name: /gripper_left/joint_trajectory_controller/follow_joint_trajectory | ||
| service_ns: /gripper_left/driver | ||
| default_acc: 0.3 | ||
| default_vel: 0.01 | ||
|
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| home: [[0.02]] | ||
| close: [[0.00]] | ||
| open: [[0.03]] |
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