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Stack Of Tasks
tiago_metapkg_ros_control_sot
Commits
ca64036a
Commit
ca64036a
authored
Apr 06, 2020
by
Joseph Mirabel
Committed by
olivier stasse
May 06, 2020
Browse files
[sot_tiago_bringup] Facilitate usage of different tiago models
parent
726f2bbf
Changes
4
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Inline
Side-by-side
sot_tiago_bringup/CMakeLists.txt
View file @
ca64036a
...
...
@@ -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
${
CATKIN_PACKAGE_SHARE_DESTINATION
}
)
INSTALL
(
FILES
...
...
sot_tiago_bringup/launch/geometric_simu.launch
View file @
ca64036a
...
...
@@ -12,6 +12,7 @@
<include
file=
"$(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=
"$(arg sot-launch-prefix)"
>
<param
name=
"/sot/dg/geometric_simu"
value=
""
/>
</node>
...
...
sot_tiago_bringup/launch/geometric_simu_context.launch
View file @
ca64036a
...
...
@@ -3,6 +3,7 @@
-->
<launch>
<arg
name=
"end_effector"
doc=
"one of false, pal-gripper, pal-hey5, schunk-wsg"
/>
<arg
name=
"use_mobile_base"
doc=
"Whether SoT should control the mobile base"
/>
<!-- Load robot model. -->
<!--
...
...
@@ -12,11 +13,20 @@
<param
name=
"robot_description"
command=
"$(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_tiago_bringup/sot/tiago.yaml
deleted
100644 → 0
View file @
726f2bbf
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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