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Stack Of Tasks
tiago_metapkg_ros_control_sot
Commits
c63cdcdf
Commit
c63cdcdf
authored
May 29, 2019
by
Joseph Mirabel
Committed by
olivier stasse
May 29, 2019
Browse files
Fix geometric simu.
parent
1d1bab5a
Changes
3
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sot_tiago_bringup/launch/geometric_simu.launch
View file @
c63cdcdf
...
...
@@ -4,7 +4,7 @@
<launch>
<!-- Which robot are we controlling ? -->
<arg
name=
"robot"
default=
"tiago"
/>
<arg
name=
"libsot"
default=
"libsot-tiago-controller.so"
/>
<arg
name=
"libsot"
default=
"libsot-tiago-
steel-
controller.so"
/>
<arg
name=
"sot-launch-prefix"
default=
""
/>
...
...
sot_tiago_bringup/launch/geometric_simu_context.launch
View file @
c63cdcdf
...
...
@@ -4,13 +4,13 @@
<launch>
<!-- Which robot are we controlling ? -->
<arg
name=
"robot"
default=
"tiago"
/>
<arg
name=
"libsot"
default=
"libsot-tiago-controller.so"
/>
<arg
name=
"libsot"
default=
"libsot-tiago-
steel-
controller.so"
/>
<!-- BTW we are in simulation ? -->
<!-- Load robot model. -->
<param
name=
"robot_description"
textfile=
"$(find tiago_data)/
urdf
/tiago_
reduced
.urdf"
/>
textfile=
"$(find tiago_data)/
robots
/tiago_
steel
.urdf"
/>
<!-- Load robot sot params. -->
...
...
sot_tiago_bringup/sot/tiago.yaml
View file @
c63cdcdf
sot
:
state_vector_map
:
[
torso_joint
,
arm_1_joint
,
arm_2_joint
,
arm_3_joint
,
arm_4_joint
,
arm_5_joint
,
arm_6_joint
,
arm_7_joint
,
gripper_joint
,
state_vector_map
:
[
torso_
lift_
joint
,
arm_1_joint
,
arm_2_joint
,
arm_3_joint
,
arm_4_joint
,
arm_5_joint
,
arm_6_joint
,
arm_7_joint
,
gripper_
finger_
joint
,
head_1_joint
,
head_2_joint
]
sot_controller
:
joint_names
:
[
torso_joint
,
arm_1_joint
,
arm_2_joint
,
arm_3_joint
,
arm_4_joint
,
arm_5_joint
,
arm_6_joint
,
arm_7_joint
,
gripper_joint
,
joint_names
:
[
torso_lift_joint
,
arm_1_joint
,
arm_2_joint
,
arm_3_joint
,
arm_4_joint
,
arm_5_joint
,
arm_6_joint
,
arm_7_joint
,
gripper_finger_joint
,
head_1_joint
,
head_2_joint
]
dt
:
0.001
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