From 6d6ca8f554727fe5f12706950cb28f434d3a7423 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Wed, 5 Apr 2017 17:45:52 +0200
Subject: [PATCH] finalizing PR

---
 cob_bringup/drivers/ur.launch                 | 74 +++++++++----------
 .../config/arm_cartesian_controller.yaml      |  3 +-
 cob_moveit_config/raw3-1/config/raw3-1.srdf   |  5 ++
 3 files changed, 44 insertions(+), 38 deletions(-)

diff --git a/cob_bringup/drivers/ur.launch b/cob_bringup/drivers/ur.launch
index 08e73478d..27ed1a001 100644
--- a/cob_bringup/drivers/ur.launch
+++ b/cob_bringup/drivers/ur.launch
@@ -1,43 +1,43 @@
 <?xml version="1.0"?>
 <launch>
 
- 	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
-   	<arg name="component_name" default="arm"/>
-   	<arg name="use_modern_driver" default="false"/>
-   	<arg name="robot_ip" default="localhost"/>
-   	<arg name="reverse_port" default="50001"/>
-   	<arg name="min_payload" default="0.0"/>
-   	<arg name="max_payload" default="10.0"/>
-   	<arg name="prefix" default="arm_"/>
-   	<arg name="sim" default="false"/>
-   	<arg name="cartesian_control" default="false"/>
+	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="component_name" default="arm"/>
+	<arg name="use_modern_driver" default="false"/>
+	<arg name="robot_ip" default="localhost"/>
+	<arg name="reverse_port" default="50001"/>
+	<arg name="min_payload" default="0.0"/>
+	<arg name="max_payload" default="10.0"/>
+	<arg name="prefix" default="arm_"/>
+	<arg name="sim" default="false"/>
+	<arg name="cartesian_control" default="false"/>
 
-   	<group unless="$(arg sim)">
-	    <!-- universal robot arm -->
-        <node unless="$(arg use_modern_driver)" ns="arm/joint_trajectory_controller" pkg="ur_driver" type="driver.py" name="ur_driver" args="$(arg robot_ip) $(arg reverse_port)" output="screen">
-            <remap from="/arm/joint_trajectory_controller/joint_states" to="/arm/joint_states"/>
-            <remap from="/arm/joint_trajectory_controller/robot_description" to="/robot_description"/>
-            <param name="min_payload" type="double" value="$(arg min_payload)"/>
-            <param name="max_payload" type="double" value="$(arg max_payload)"/>
-            <param name="prefix" value="$(arg prefix)"/>
-        </node>
-        <!-- universal robot arm modern driver -->
-        <!--node if="$(arg use_modern_driver)" ns="arm/joint_trajectory_controller" pkg="ur_modern_driver" type="ur_driver" name="ur_driver" args="$(arg robot_ip) $(arg reverse_port)" output="screen">
-            <remap from="/arm/joint_trajectory_controller/joint_states" to="/arm/joint_states"/>
-            <remap from="/arm/joint_trajectory_controller/robot_description" to="/robot_description"/>
-            <param name="min_payload" type="double" value="$(arg min_payload)"/>
-            <param name="max_payload" type="double" value="$(arg max_payload)"/>
-            <param name="prefix" value="$(arg prefix)"/>
-        </node-->
-    </group>
-    <include if="$(arg sim)" file="$(find cob_bringup)/controllers/generic_controller.launch">
-        <arg name="robot" value="$(arg robot)"/>
-        <arg name="component_name" value="$(arg component_name)"/>
-    </include>
-    <include if="$(arg cartesian_control)" file="$(find cob_bringup)/controllers/generic_cartesian_controller.launch">
-        <arg name="robot" value="$(arg robot)"/>
-        <arg name="component_name" value="$(arg component_name)"/>
-        <arg name="debug" value="false"/>
-    </include>
+	<group unless="$(arg sim)">
+		<!-- universal robot python driver -->
+		<node unless="$(arg use_modern_driver)" ns="arm/joint_trajectory_controller" pkg="ur_driver" type="driver.py" name="ur_driver" args="$(arg robot_ip) $(arg reverse_port)" output="screen">
+			<remap from="/arm/joint_trajectory_controller/joint_states" to="/arm/joint_states"/>
+			<remap from="/arm/joint_trajectory_controller/robot_description" to="/robot_description"/>
+			<param name="min_payload" type="double" value="$(arg min_payload)"/>
+			<param name="max_payload" type="double" value="$(arg max_payload)"/>
+			<param name="prefix" value="$(arg prefix)"/>
+		</node>
+		<!-- universal robot modern driver -->
+		<!--node if="$(arg use_modern_driver)" ns="arm/joint_trajectory_controller" pkg="ur_modern_driver" type="ur_driver" name="ur_driver" args="$(arg robot_ip) $(arg reverse_port)" output="screen">
+			<remap from="/arm/joint_trajectory_controller/joint_states" to="/arm/joint_states"/>
+			<remap from="/arm/joint_trajectory_controller/robot_description" to="/robot_description"/>
+			<param name="min_payload" type="double" value="$(arg min_payload)"/>
+			<param name="max_payload" type="double" value="$(arg max_payload)"/>
+			<param name="prefix" value="$(arg prefix)"/>
+		</node-->
+	</group>
+	<include if="$(arg sim)" file="$(find cob_bringup)/controllers/generic_controller.launch">
+		<arg name="robot" value="$(arg robot)"/>
+		<arg name="component_name" value="$(arg component_name)"/>
+	</include>
+	<include if="$(arg cartesian_control)" file="$(find cob_bringup)/controllers/generic_cartesian_controller.launch">
+		<arg name="robot" value="$(arg robot)"/>
+		<arg name="component_name" value="$(arg component_name)"/>
+		<arg name="debug" value="false"/>
+	</include>
 
 </launch>
diff --git a/cob_hardware_config/raw3-1/config/arm_cartesian_controller.yaml b/cob_hardware_config/raw3-1/config/arm_cartesian_controller.yaml
index cb2d91399..d29ce9821 100644
--- a/cob_hardware_config/raw3-1/config/arm_cartesian_controller.yaml
+++ b/cob_hardware_config/raw3-1/config/arm_cartesian_controller.yaml
@@ -41,11 +41,12 @@ twist_controller:
   keep_direction: true
   enforce_input_limits: true
   enforce_pos_limits: true
-  enforce_pos_limits: true
   enforce_vel_limits: true
   enforce_acc_limits: false
   limits_tolerance: 5.0    #for position limits [deg]
   #limits_acc: [10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0]    #[rad/s2]
+  max_lin_twist: 0.5
+  max_rot_twist: 0.5
 
   # kinematic extensions
   kinematic_extension: 0    #OFF 0, BaseCompensation 1, BaseActive 2
diff --git a/cob_moveit_config/raw3-1/config/raw3-1.srdf b/cob_moveit_config/raw3-1/config/raw3-1.srdf
index 3e156f6d9..a241b1c1d 100644
--- a/cob_moveit_config/raw3-1/config/raw3-1.srdf
+++ b/cob_moveit_config/raw3-1/config/raw3-1.srdf
@@ -12,6 +12,9 @@
     <group name="arm">
         <chain base_link="arm_base_link" tip_link="arm_ee_link" />
     </group>
+    <group name="endeffector">
+        <link name="arm_ee_link"/>
+    </group>
     <group name="robot">
         <joint name="base" />
         <joint name="arm_shoulder_pan_joint" />
@@ -21,6 +24,8 @@
         <joint name="arm_wrist_2_joint" />
         <joint name="arm_wrist_3_joint" />
     </group>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="moveit_ee" parent_link="arm_ee_link" group="endeffector" />
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="base" type="planar" parent_frame="odom_combined" child_link="base_footprint" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->