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fix kinetic-devel (denso_ros_control) for simulation usage #88

merged 23 commits into from Oct 23, 2017
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skip fixed joint, see…
k-okada Oct 22, 2017
vs060/model/vs060A1_AV6_NNN_NNN.urdf: add missing safety_controller f…
k-okada Oct 22, 2017
loopback read and write for dryrun mode
k-okada Oct 22, 2017
use position_trajectory_controller (use joint tarjectory action inste…
k-okada Oct 22, 2017
position_control.launch: add server_ip, udp_timeout, server_port, dry…
k-okada Oct 22, 2017
position_control.launch: add --shutdown-timeout 0.1 to clean? shutdow…
k-okada Oct 22, 2017
update moveit configuration for new denso_ros_controller package
k-okada Oct 22, 2017
Deprecation warning: Trajectory execution service is deprecated (was …
k-okada Oct 22, 2017
run controller with position_control.launch, not launch in denso_launch
k-okada Oct 22, 2017
change arg name from mode to dryrun
k-okada Oct 22, 2017
import dummy pyassimp: workaround until…
k-okada Oct 22, 2017
d0e4924 : enable to run arm.go()
k-okada Oct 22, 2017
remove redundant code from demo_simulation_cage.launch
k-okada Oct 22, 2017
rm denso_vs060_startup_*
k-okada Oct 22, 2017
clean up launch file for newer demo.launch in vs060_moveit_config, wh…
k-okada Oct 22, 2017
re-enable vs060.test, add workaround for pyassimp, run go() twice
k-okada Oct 22, 2017
CMakeLists.txt: add install target
k-okada Oct 22, 2017
wait for /move_group/goal
k-okada Oct 22, 2017
add position_controllers depends denso_ros_control/package.xml
k-okada Oct 22, 2017
add joint_trajectory_controller depends denso_ros_control/package.xml
k-okada Oct 22, 2017
run catkin_test_results with --verbose
k-okada Oct 22, 2017
b6ed8f3 sleep before retry go()
k-okada Oct 23, 2017
add joint_state_controller
k-okada Oct 23, 2017
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update moveit configuration for new denso_ros_controller package

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k-okada committed Oct 22, 2017
commit af46a2d6849300cebba2e84c3f494c780a05ffc0
@@ -1,5 +1,4 @@
<include file="$(find denso_launch)/launch/denso_vs060_startup_skelton.launch">
<arg name="controller_argument" value="-d" />
@@ -1,26 +1,10 @@
<arg name="controller_argument" default="" />
<arg name="controller_ip" default="" />
<node pkg="denso_controller" type="main" name="realtime_loop"
gdb-launch-prefix="xterm -e gdb --args"
args="-x $(find vs060)/model/vs060A1_AV6_NNN_NNN.urdf -s $(arg controller_argument)" output="screen">
<param name="udp_timeout" value="9000" />
<!-- <param name="udp_timeout" value="100000" /> -->
<param name="server_ip" value="$(arg controller_ip)" />
<param name="rt_period" value="8000000.0" /> <!--8ms-->
<param name="min_acceptable_rt_loop_frequency" value="100.0" />
<param name="not_sleep_clock" value="true" />
<node pkg="pr2_controller_manager" type="spawner" name="pr2_controller_manager"
args="arm_controller" output="screen" />
<rosparam file="$(find denso_controller)/denso_controllers.yaml" command="load" />
<param name="robot_description" textfile="$(find vs060)/model/vs060A1_AV6_NNN_NNN.urdf" />
<!-- <param name="robot_description" -->
<!-- textfile="$(find open_industrial_web_interface)/resources/vs060A1_AV6_NNN_NNN.urdf" /> -->
<arg name="graph_time" default="10" />
<node pkg="robot_state_publisher" type="state_publisher" name="state_publisher" />
<arg name="server_ip" default="" />
<arg name="robot_description" default="$(find vs060)/model/vs060A1_AV6_NNN_NNN.urdf" />
<include file="$(find denso_ros_control)/launch/position_control.launch"
pass_all_args="true" />
<group if="false">
<node pkg="denso_launch" output="screen" name="$(anon hogehoge)"
<node pkg="denso_launch" output="screen" name="$(anon vs_060_test)"
type="vs060-test.l" respawn="true"
@@ -1,8 +1,8 @@
controller_manager_ns: pr2_controller_manager
controller_manager_ns: controller_manager
- name: arm_controller
- name: arm_controller/position_trajectory_controller
action_ns: follow_joint_trajectory
# action_ns: joint_trajectory_action
type: FollowJointTrajectory
default: true
- j1
@@ -7,15 +7,6 @@
<arg name="load_robot_description" value="true"/>

<!-- realtime_loop publish joint state publisher
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />

<include file="$(find vs060_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
@@ -29,6 +20,7 @@
<include file="$(find vs060_moveit_config)/launch/kinect.launch" />
<include file="$(find vs060_moveit_config)/launch/robot_self_filter.launch" />

<group if="$(arg include_startup_launch)">
<include file="$(find denso_launch)/launch/denso_vs060_startup_$(arg mode).launch" />
@@ -32,6 +32,8 @@
<!-- Set the display variable, in case OpenGL code is used internally -->
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />

<remap from="joint_states" to="arm_controller/joint_states" />

<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
@@ -1,7 +1,7 @@
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="controller_manager_name" default="pr2_controller_manager" />
<arg name="controller_manager_name" default="controller_manager" />
<param name="controller_manager_name" value="$(arg controller_manager_name)" />
<arg name="use_controller_manager" default="true" />
<param name="use_controller_manager" value="$(arg use_controller_manager)" />
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