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.

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

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

Merged
merged 23 commits into from Oct 23, 2017
Merged
Changes from 1 commit
Commits
Show all changes
23 commits
Select commit Hold shift + click to select a range
415e794
skip fixed joint, see https://github.com/start-jsk/denso/issues/68#is…
k-okada Oct 22, 2017
eb1dd85
vs060/model/vs060A1_AV6_NNN_NNN.urdf: add missing safety_controller f…
k-okada Oct 22, 2017
5d471bc
loopback read and write for dryrun mode
k-okada Oct 22, 2017
9d95594
use position_trajectory_controller (use joint tarjectory action inste…
k-okada Oct 22, 2017
d54819a
position_control.launch: add server_ip, udp_timeout, server_port, dry…
k-okada Oct 22, 2017
6ce91d3
position_control.launch: add --shutdown-timeout 0.1 to clean? shutdow…
k-okada Oct 22, 2017
af46a2d
update moveit configuration for new denso_ros_controller package
k-okada Oct 22, 2017
24eb4dd
Deprecation warning: Trajectory execution service is deprecated (was …
k-okada Oct 22, 2017
c4eb35d
run controller with position_control.launch, not launch in denso_launch
k-okada Oct 22, 2017
4b2e380
change arg name from mode to dryrun
k-okada Oct 22, 2017
ec699b3
import dummy pyassimp: workaround until https://github.com/ros-planni…
k-okada Oct 22, 2017
d0e4924
irex_demo_noteaching.py : enable to run arm.go()
k-okada Oct 22, 2017
b4ec29c
remove redundant code from demo_simulation_cage.launch
k-okada Oct 22, 2017
d16b52f
rm denso_vs060_startup_*
k-okada Oct 22, 2017
0750519
clean up launch file for newer demo.launch in vs060_moveit_config, wh…
k-okada Oct 22, 2017
d917c8f
re-enable vs060.test, add workaround for pyassimp, run go() twice
k-okada Oct 22, 2017
960518c
CMakeLists.txt: add install target
k-okada Oct 22, 2017
b584662
wait for /move_group/goal
k-okada Oct 22, 2017
5270354
add position_controllers depends denso_ros_control/package.xml
k-okada Oct 22, 2017
28185bf
add joint_trajectory_controller depends denso_ros_control/package.xml
k-okada Oct 22, 2017
84467a5
run catkin_test_results with --verbose
k-okada Oct 22, 2017
b6ed8f3
test_moveit.py: sleep before retry go()
k-okada Oct 23, 2017
e3fcfe5
add joint_state_controller
k-okada Oct 23, 2017
File filter...
Filter file types
Jump to…
Jump to file or symbol
Failed to load files and symbols.

Always

Just for now

update moveit configuration for new denso_ros_controller package

  • Loading branch information...
k-okada committed Oct 22, 2017
commit af46a2d6849300cebba2e84c3f494c780a05ffc0
@@ -1,5 +1,4 @@
<launch>
<include file="$(find denso_launch)/launch/denso_vs060_startup_skelton.launch">
<arg name="controller_argument" value="-d" />
</include>
</launch>
@@ -1,26 +1,10 @@
<launch>
<arg name="controller_argument" default="" />
<arg name="controller_ip" default="133.11.216.51" />
<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>
<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="$(find open_industrial_web_interface)/resources/vs060A1_AV6_NNN_NNN.urdf" /> -->
<arg name="graph_time" default="10" />
<node pkg="robot_state_publisher" type="state_publisher" name="state_publisher" />
<arg name="server_ip" default="10.3.147.61" />
<arg name="robot_description" default="$(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"
/>
</group>
@@ -1,8 +1,8 @@
controller_manager_ns: pr2_controller_manager
controller_manager_ns: controller_manager
controller_list:
- name: arm_controller
- name: arm_controller/position_trajectory_controller
action_ns: follow_joint_trajectory
# action_ns: joint_trajectory_action
type: FollowJointTrajectory
default: true
joints:
- j1
@@ -7,15 +7,6 @@
<arg name="load_robot_description" value="true"/>
</include>


<!-- 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>
-->

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

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

<group if="$(arg include_startup_launch)">
<include file="$(find denso_launch)/launch/denso_vs060_startup_$(arg mode).launch" />
</group>
@@ -32,6 +32,8 @@
<!-- Set the display variable, in case OpenGL code is used internally -->
<env name="DISPLAY" value="$(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="$(arg jiggle_fraction)" />
@@ -1,7 +1,7 @@
<launch>
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<param name="moveit_controller_manager" value="$(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)" />
ProTip! Use n and p to navigate between commits in a pull request.
You can’t perform that action at this time.