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Adapt simulation launch files and add prefix support for simulation a…
…nd MoveIt (#100) * Created interface class and put the RPC handlers in robot folder * Now the robot functions interface work just like before * Added templates and generation for simulated services * Added the simulation services to the driver headers * Added newly generated files to repo * Added simulation option to the driver so the gazebo package can launch the kortex_driver too, in a different mode * Adapt joint_limits files to correctly take prefix option * Change description and control files to support prefix option * Change MoveIt config launch and config files to enable prefix option - only SRDF modifications remain * Added xacro usage in SRDF files to be able to prefix joint names * Adjust ompl planning launch and config files to support prefixing joint names * Remove --inorder from xacro calls since it's default now
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52 changes: 26 additions & 26 deletions
52
kortex_control/arms/gen3/6dof/config/joint_position_controllers.yaml
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60 changes: 30 additions & 30 deletions
60
kortex_control/arms/gen3/7dof/config/joint_position_controllers.yaml
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52 changes: 26 additions & 26 deletions
52
kortex_control/arms/gen3_lite/6dof/config/joint_position_controllers.yaml
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12 changes: 6 additions & 6 deletions
12
kortex_control/grippers/gen3_lite_2f/config/gripper_action_controller_parameters.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,11 +1,11 @@ | ||
| gen3_lite_2f_gripper_controller: | ||
| $(arg prefix)gen3_lite_2f_gripper_controller: | ||
| type: position_controllers/GripperActionController | ||
| joint: right_finger_bottom_joint | ||
| joint: $(arg prefix)right_finger_bottom_joint | ||
| action_monitor_rate: 100 | ||
|
|
||
| gazebo_ros_control: | ||
| pid_gains: | ||
| right_finger_bottom_joint: {p: 0.1, i: 0.0, d: 0.0} | ||
| right_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0} | ||
| left_finger_bottom_joint: {p: 10.0, i: 0.0, d: 0.0} | ||
| left_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0} | ||
| $(arg prefix)right_finger_bottom_joint: {p: 0.1, i: 0.0, d: 0.0} | ||
| $(arg prefix)right_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0} | ||
| $(arg prefix)left_finger_bottom_joint: {p: 10.0, i: 0.0, d: 0.0} | ||
| $(arg prefix)left_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0} |
16 changes: 8 additions & 8 deletions
16
kortex_control/grippers/robotiq_2f_140/config/gripper_action_controller_parameters.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,13 +1,13 @@ | ||
| robotiq_2f_140_gripper_controller: | ||
| $(arg prefix)robotiq_2f_140_gripper_controller: | ||
| type: position_controllers/GripperActionController | ||
| joint: finger_joint | ||
| joint: $(arg prefix)finger_joint | ||
| action_monitor_rate: 100 | ||
|
|
||
| gazebo_ros_control: | ||
| pid_gains: | ||
| finger_joint: {p: 10.0, i: 0.0, d: 0.01} | ||
| right_outer_knuckle_joint: {p: 10.0, i: 0.0, d: 0.00} | ||
| right_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} | ||
| left_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} | ||
| left_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} | ||
| right_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} | ||
| $(arg prefix)finger_joint: {p: 10.0, i: 0.0, d: 0.01} | ||
| $(arg prefix)right_outer_knuckle_joint: {p: 10.0, i: 0.0, d: 0.00} | ||
| $(arg prefix)right_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} | ||
| $(arg prefix)left_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} | ||
| $(arg prefix)left_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} | ||
| $(arg prefix)right_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} |
16 changes: 8 additions & 8 deletions
16
kortex_control/grippers/robotiq_2f_85/config/gripper_action_controller_parameters.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,13 +1,13 @@ | ||
| robotiq_2f_85_gripper_controller: | ||
| $(arg prefix)robotiq_2f_85_gripper_controller: | ||
| type: position_controllers/GripperActionController | ||
| joint: finger_joint | ||
| joint: $(arg prefix)finger_joint | ||
| action_monitor_rate: 100 | ||
|
|
||
| gazebo_ros_control: | ||
| pid_gains: | ||
| finger_joint: {p: 10.0, i: 0.0, d: 0.01} | ||
| right_outer_knuckle_joint: {p: 10.0, i: 0.0, d: 0.00} | ||
| right_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} | ||
| left_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} | ||
| left_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} | ||
| right_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} | ||
| $(arg prefix)finger_joint: {p: 10.0, i: 0.0, d: 0.01} | ||
| $(arg prefix)right_outer_knuckle_joint: {p: 10.0, i: 0.0, d: 0.00} | ||
| $(arg prefix)right_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} | ||
| $(arg prefix)left_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} | ||
| $(arg prefix)left_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} | ||
| $(arg prefix)right_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} |
12 changes: 6 additions & 6 deletions
12
kortex_description/arms/gen3/6dof/config/gazebo_initial_joint_positions.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| initial_joint_positions: "-J joint_1 1.57 | ||
| -J joint_2 -0.35 | ||
| -J joint_3 -2.00 | ||
| -J joint_4 0 | ||
| -J joint_5 -1.00 | ||
| -J joint_6 1.57 " | ||
| initial_joint_positions: "-J $(arg prefix)joint_1 1.57 | ||
| -J $(arg prefix)joint_2 -0.35 | ||
| -J $(arg prefix)joint_3 -2.00 | ||
| -J $(arg prefix)joint_4 0 | ||
| -J $(arg prefix)joint_5 -1.00 | ||
| -J $(arg prefix)joint_6 1.57 " |
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