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change kinematics_solver.
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@cc0h
cc0h committed Nov 4, 2023
1 parent 9e1d28d commit 214efaf
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Showing 2 changed files with 41 additions and 112 deletions.
6 changes: 3 additions & 3 deletions engineer_arm_config/config/kinematics.yaml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
engineer_arm:
kinematics_solver: engineer_arm/IKFastKinematicsPlugin
kinematics_solver_search_resolution: 0.03
kinematics_solver_timeout: 0.03
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
147 changes: 38 additions & 109 deletions engineer_arm_config/launch/moveit.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,11 @@ Panels:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Planning Metrics1
- /MotionPlanning1/Planned Path1
- /TF1
- /TF1/Frames1
Splitter Ratio: 0.5
Tree Height: 357
Tree Height: 315
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expand Down Expand Up @@ -87,7 +88,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
fake_link5:
drag_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down Expand Up @@ -141,6 +142,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
mimic_drag_link:
Alpha: 1
Show Axes: false
Show Trail: false
pitch:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -176,6 +181,10 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
tools_link6:
Alpha: 1
Show Axes: false
Show Trail: false
yaw:
Alpha: 1
Show Axes: false
Expand All @@ -185,7 +194,7 @@ Visualization Manager:
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Expand Down Expand Up @@ -241,7 +250,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
fake_link5:
drag_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand Down Expand Up @@ -295,6 +304,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
mimic_drag_link:
Alpha: 1
Show Axes: false
Show Trail: false
pitch:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -330,6 +343,10 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
tools_link6:
Alpha: 1
Show Axes: false
Show Trail: false
yaw:
Alpha: 1
Show Axes: false
Expand All @@ -341,110 +358,22 @@ Visualization Manager:
Value: true
Velocity_Scaling_Factor: 0.1
- Class: rviz/TF
Enabled: true
Enabled: false
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: false
base_link:
Value: true
camera_link:
Value: false
camera_optical_frame:
Value: true
exchanger:
Value: true
fake_link5:
Value: false
gimbal_base:
Value: false
left_back_wheel:
Value: false
left_front_wheel:
Value: false
link1:
Value: true
link2:
Value: true
link3:
Value: true
link4:
Value: true
link5:
Value: true
link6:
Value: true
link7:
Value: true
map:
Value: true
odom:
Value: true
pitch:
Value: false
pitch_behind_link:
Value: false
pitch_front_link:
Value: false
right_back_wheel:
Value: false
right_front_wheel:
Value: false
roll_left_link:
Value: false
roll_right_link:
Value: false
tools_link:
Value: true
yaw:
Value: false
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
exchanger:
{}
odom:
base_link:
left_back_wheel:
{}
left_front_wheel:
{}
link1:
gimbal_base:
yaw:
pitch:
camera_link:
{}
camera_optical_frame:
{}
link2:
link3:
link4:
link5:
fake_link5:
{}
link6:
link7:
tools_link:
{}
pitch_behind_link:
{}
pitch_front_link:
{}
right_back_wheel:
{}
right_front_wheel:
{}
roll_left_link:
{}
roll_right_link:
{}
{}
Update Interval: 0
Value: true
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand All @@ -461,41 +390,41 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 4.128435134887695
Distance: 1.5691611766815186
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.75
Focal Point:
X: -0.17658083140850067
Y: 0.4902980625629425
Z: 0.38593053817749023
X: 0.2072981297969818
Y: -0.0745711624622345
Z: 0.24762113392353058
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.3947972059249878
Pitch: 0.49479714035987854
Target Frame: base_link
Yaw: 1.5382111072540283
Yaw: 5.426367282867432
Saved: ~
Window Geometry:
Displays:
collapsed: true
collapsed: false
Height: 1016
Help:
collapsed: false
Hide Left Dock: true
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f30000039efc0200000007fb000000100044006900730070006c006100790073000000003d0000039e000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000001ab000002300000017d00ffffff000007320000039e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000100000000000001f30000039efc0200000007fb000000100044006900730070006c006100790073010000003d000001cc000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000020f000001cc0000017d00ffffff000004880000039e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1842
X: 78
Y: 27
Width: 1665
X: 465
Y: 245

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