Commit ca64036a authored by Joseph Mirabel's avatar Joseph Mirabel Committed by olivier stasse
Browse files

[sot_tiago_bringup] Facilitate usage of different tiago models

parent 726f2bbf
......@@ -11,23 +11,8 @@ catkin_package()
#setup_project()
INSTALL(
FILES
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
)
INSTALL(
FILES
launch/geometric_simu.launch
launch/geometric_simu_context.launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
INSTALL(
FILES
sot/tiago.yaml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/sot
)
INSTALL(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
INSTALL(
FILES
......
......@@ -12,6 +12,7 @@
<include file="$(find sot_tiago_bringup)/launch/geometric_simu_context.launch">
<arg name="end_effector" value="$(arg end_effector)"/>
<arg name="use_mobile_base" value="$(arg use_mobile_base)"/>
</include>
<param name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>
......@@ -22,8 +23,7 @@
pkg="dynamic_graph_bridge"
type="geometric_simu"
args=" --input-file $(arg libsot)"
launch-prefix="$(arg sot-launch-prefix)"
respawn="true">
launch-prefix="$(arg sot-launch-prefix)" >
<param name="/sot/dg/geometric_simu" value="" />
</node>
......
......@@ -3,6 +3,7 @@
-->
<launch>
<arg name="end_effector" doc="one of false, pal-gripper, pal-hey5, schunk-wsg"/>
<arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
<!-- Load robot model. -->
<!--
......@@ -12,11 +13,20 @@
<param name="robot_description"
command="$(find xacro)/xacro.py '$(find tiago_description)/robots/tiago.urdf.xacro' end_effector:=$(arg end_effector)"/>
<!-- Load robot sot params. -->
<rosparam command="load"
file="$(find sot_tiago_bringup)/sot/tiago.yaml" />
<arg if="$(arg use_mobile_base) " name="mobile_base_joint_names" value="'wheel_left_joint', 'wheel_right_joint', " />
<arg unless="$(arg use_mobile_base) " name="mobile_base_joint_names" value="" />
<arg if="$(eval arg('end_effector') == 'schunk-wsg')" name="gripper_joint_names" value="'gripper_finger_joint', " />
<arg if="$(eval arg('end_effector') == 'pal-hey5' )" name="gripper_joint_names" value="'hand_index_joint', 'hand_mrl_joint', 'hand_thumb_joint', " />
<!-- Load robot sot params. -->
<group ns="sot">
<rosparam param="tf_base_link">base_footprint</rosparam>
<rosparam param="state_vector_map" subst_value="True">[ $(arg mobile_base_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", $(arg gripper_joint_names) "head_1_joint", "head_2_joint" ]</rosparam>
</group>
<group ns="sot_controller">
<rosparam param="joint_names" subst_value="True">[ $(arg mobile_base_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", $(arg gripper_joint_names) "head_1_joint", "head_2_joint" ]</rosparam>
<rosparam param="dt">0.01</rosparam>
</group>
<machine name="geometric_simu_machine"
address="localhost" />
......
sot:
state_vector_map: [
wheel_left_joint, wheel_right_joint,
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: [
wheel_left_joint, wheel_right_joint,
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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