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modify launch files #79

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4 changes: 3 additions & 1 deletion orne_or_bringup/launch/orne_or_manipulator_sim.launch
Original file line number Diff line number Diff line change
@@ -1,11 +1,13 @@
<?xml version="1.0"?>
<launch>
<rosparam file="$(find orne_or_manipulator_control)/config/gazebo_ros_control.yaml" command="load" />
<include file="$(find icart_mini_gazebo)/launch/icart_mini.launch">
<arg name="gui" value="true"/>
<arg name="model" value="$(find xacro)/xacro '$(find orne_or_description)/urdf/orne_or.urdf.xacro'"/>
<arg name="world" value="$(find icart_mini_gazebo)/worlds/Tsudanuma_2-3.world"/>
</include>
<include file="$(find orne_or_bringup)/launch/includes/base.launch.xml"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

<node pkg="timed_roslaunch" type="timed_roslaunch.sh" name="timed_roslaunch" args="5 $(find orne_or_manipulator_control)/launch/manipulator_controller_sim.launch" />
<node pkg="timed_roslaunch" type="timed_roslaunch.sh" name="timed_roslaunch" args="5 $(find orne_or_manipulator_control)/launch/manipulator_controller.launch" />
</launch>
14 changes: 7 additions & 7 deletions orne_or_bringup/launch/orne_or_sim.launch
Original file line number Diff line number Diff line change
@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<launch>
<include file="$(find icart_mini_gazebo)/launch/icart_mini.launch">
<arg name="gui" value="true"/>
<arg name="model" value="$(find xacro)/xacro '$(find orne_or_description)/urdf/orne_or.urdf.xacro'"/>
<arg name="world" value="$(find icart_mini_gazebo)/worlds/Tsudanuma_2-3.world"/>
</include>

<include file="$(find orne_or_bringup)/launch/includes/base.launch.xml"/>
<include file="$(find icart_mini_gazebo)/launch/icart_mini.launch">
<arg name="gui" value="true"/>
<arg name="model" value="$(find xacro)/xacro '$(find orne_or_description)/urdf/orne_or.urdf.xacro'"/>
<arg name="world" value="$(find icart_mini_gazebo)/worlds/Tsudanuma_2-3.world"/>
</include>
<include file="$(find orne_or_bringup)/launch/includes/base.launch.xml"/>
</launch>

8 changes: 4 additions & 4 deletions orne_or_description/urdf/kinect.urdf.xacro
Original file line number Diff line number Diff line change
Expand Up @@ -109,21 +109,21 @@
<transmission name="tran3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="kinect_yaw_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="kinect_yaw_motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="tran4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="kinect_pitch_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="kinect_pitch_motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down
64 changes: 32 additions & 32 deletions orne_or_description/urdf/manipulator.urdf.xacro
Original file line number Diff line number Diff line change
Expand Up @@ -74,10 +74,10 @@
<transmission name="trans_sholder_slider">
<type>transmission_interface/SimpleTransmission</type>
<joint name="sholder_slider">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_sholder_slider">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -111,10 +111,10 @@
<transmission name="trans_l_sholder_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_sholder_pitch_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_l_sholder_pitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -152,10 +152,10 @@
<transmission name="trans_l_sholder_roll">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_sholder_roll_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_l_sholder_roll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -193,10 +193,10 @@
<transmission name="trans_l_elbow_roll">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_elbow_roll_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_l_elbow_roll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -228,10 +228,10 @@
<transmission name="trans_l_wrist_roll">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_wrist_roll_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_l_wrist_roll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -269,10 +269,10 @@
<transmission name="trans_l_wrist_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_wrist_pitch_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_l_wrist_pitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -310,10 +310,10 @@
<transmission name="trans_l_wrist_yaw">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_wrist_yaw_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_l_wrist_yaw">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -351,10 +351,10 @@
<transmission name="trans_l_hand_left">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_hand_left_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_l_hand_left">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -393,10 +393,10 @@
<transmission name="trans_l_right_hand">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_hand_right_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_l_hand_right">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -438,10 +438,10 @@
<transmission name="trans_r_sholder_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_sholder_pitch_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_r_sholder_pitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -480,10 +480,10 @@
<transmission name="trans_r_sholder_roll">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_sholder_roll_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_r_sholder_roll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -522,10 +522,10 @@
<transmission name="trans_r_elbow_roll">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_elbow_roll_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_r_elbow_roll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -558,10 +558,10 @@
<transmission name="trans_r_wrist_roll">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_wrist_roll_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_r_wrist_roll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -599,10 +599,10 @@
<transmission name="trans_r_wrist_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_wrist_pitch_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_r_wrist_pitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -636,10 +636,10 @@
<transmission name="trans_r_wrist_yaw">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_wrist_yaw_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_r_wrist_yaw">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -673,10 +673,10 @@
<transmission name="trans_r_hand">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_hand_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_r_hand">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down
8 changes: 4 additions & 4 deletions orne_or_description/urdf/orne_or_cart.urdf.xacro
Original file line number Diff line number Diff line change
Expand Up @@ -139,21 +139,21 @@
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_wheel_hinge">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="left_motor">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_wheel_hinge">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down
Original file line number Diff line number Diff line change
@@ -0,0 +1,23 @@
manipulator:
gazebo_ros_control:
pid_gains:
sholder_slider: {p: 100.0, i: 0.01, d: 10.0}
l_sholder_pitch_joint: {p: 100.0, i: 0.01, d: 10.0}
l_sholder_roll_joint: {p: 100.0, i: 0.01, d: 10.0}
l_elbow_roll_joint: {p: 100.0, i: 0.01, d: 10.0}
l_wrist_roll_joint: {p: 100.0, i: 0.01, d: 10.0}
l_wrist_pitch_joint: {p: 100.0, i: 0.01, d: 10.0}
l_wrist_yaw_joint: {p: 100.0, i: 0.01, d: 10.0}
r_sholder_pitch_joint: {p: 100.0, i: 0.01, d: 10.0}
r_sholder_roll_joint: {p: 100.0, i: 0.01, d: 10.0}
r_elbow_roll_joint: {p: 100.0, i: 0.01, d: 10.0}
r_wrist_roll_joint: {p: 100.0, i: 0.01, d: 10.0}
r_wrist_pitch_joint: {p: 100.0, i: 0.01, d: 10.0}
r_wrist_yaw_joint: {p: 100.0, i: 0.01, d: 10.0}
l_hand_left_joint: {p: 100.0, i: 0.01, d: 10.0}
l_hand_right_joint: {p: 100.0, i: 0.01, d: 10.0}
r_hand_joint: {p: 100.0, i: 0.01, d: 10.0}
left_wheel_hinge: {p: 100.0, i: 0.01, d: 10.0}
right_wheel_hinge: {p: 100.0, i: 0.01, d: 10.0}
kinect_yaw_joint: {p: 100.0, i: 0.01, d: 10.0}
kinect_pitch_joint: {p: 100.0, i: 0.01, d: 10.0}
Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
<?xml version="1.0"?>
<launch>
<rosparam file="$(find orne_or_manipulator_control)/config/trajectory_control.yaml" command="load" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="--shutdown-timeout 0.1 /manipulator/joint_state_controller /manipulator/left_arm_controller /manipulator/right_arm_controller /manipulator/left_hand_controller /manipulator/right_hand_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/manipulator" args="/manipulator/joint_state_controller /manipulator/left_arm_controller /manipulator/right_arm_controller /manipulator/left_hand_controller /manipulator/right_hand_controller"/>
</launch>
Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
<?xml version="1.0"?>
<launch>
<rosparam file="$(find orne_or_manipulator_control)/config/trajectory_control.yaml" command="load" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="--shutdown-timeout 0.1 /manipulator/joint_state_controller /manipulator/left_arm_controller /manipulator/left_hand_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/manipulator" args="/manipulator/joint_state_controller /manipulator/left_arm_controller /manipulator/left_hand_controller"/>
</launch>

This file was deleted.

Original file line number Diff line number Diff line change
Expand Up @@ -4,13 +4,8 @@
<rosparam file="$(find orne_or_manipulator_driver)/config/orne_or_manipulator_driver.yaml" command="load" ns="orne_or_manipulator_driver"/>

<!-- Start Manipulator driver -->
<node name="orne_or_manipulator_driver" pkg="orne_or_manipulator_driver" type="orne_or_manipulator_driver" args="fake:=true l_sholder_pitch_driver l_sholder_roll_driver l_elbow_roll_driver l_wrist_roll_driver l_wrist_pitch_driver l_wrist_yaw_driver l_hand_left_driver r_sholder_pitch_driver r_sholder_roll_driver r_elbow_roll_driver r_wrist_roll_driver r_wrsit_pitch_driver r_wrist_yaw_driver r_hand_driver sholder_slider_driver" output="screen">
<remap from="/joint_states" to="/manipulator/joint_states" />
</node>
<node name="orne_or_manipulator_driver" pkg="orne_or_manipulator_driver" type="orne_or_manipulator_driver" args="fake:=true l_sholder_pitch_driver l_sholder_roll_driver l_elbow_roll_driver l_wrist_roll_driver l_wrist_pitch_driver l_wrist_yaw_driver l_hand_left_driver r_sholder_pitch_driver r_sholder_roll_driver r_elbow_roll_driver r_wrist_roll_driver r_wrsit_pitch_driver r_wrist_yaw_driver r_hand_driver sholder_slider_driver" output="screen"/>

<!-- Load URDF model -->
<param name="robot_description" command="$(find xacro)/xacro '$(find orne_or_description)/urdf/orne_or.urdf.xacro'" />

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

</launch>
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