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Add gripper to plansys2 bt actions

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Roman Andrianov 2022-01-24 19:10:30 +00:00 • committed by Igor Brylyov
parent 71cfa0991f
commit 43c8a363aa
18 changed files with 428 additions and 132 deletions
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9
rasmt_moveit_config/config/rasmt.srdf
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@ -13,7 +13,11 @@
<chain base_link="rasmt_Base_Link" tip_link="rasmt_Dock_Link"/>
</group>
<group name="rasmt_hand_arm_group">
<link name="rasmt_Grip_Body"/>
<link name="rasmt_Grip_L"/>
<link name="rasmt_Grip_R"/>
<joint name="rasmt_Slide_1"/>
<joint name="rasmt_Slide_2"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="home_position" group="rasmt_arm_group">
@ -42,15 +46,18 @@
</group_state>
<group_state name="home_hand" group="rasmt_hand_arm_group">
<joint name="rasmt_Slide_1" value="0"/>
<joint name="rasmt_Slide_2" value="0"/>
</group_state>
<group_state name="full_open" group="rasmt_hand_arm_group">
<joint name="rasmt_Slide_1" value="0.04"/>
<joint name="rasmt_Slide_2" value="0.04"/>
</group_state>
<group_state name="full_close" group="rasmt_hand_arm_group">
<joint name="rasmt_Slide_1" value="-0.02"/>
<joint name="rasmt_Slide_2" value="-0.02"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="rasmt_hand" parent_link="rasmt_Dock_Link" group="rasmt_hand_arm_group" parent_group="rasmt_arm_group"/>
<!--end_effector name="rasmt_hand" parent_link="rasmt_Dock_Link" group="rasmt_hand_arm_group" parent_group="rasmt_arm_group"/-->
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="rasmt_Base_Link" link2="rasmt_Fork_1" reason="Adjacent"/>
<disable_collisions link1="rasmt_Base_Link" link2="rasmt_Fork_2" reason="Never"/>

7
rasmt_moveit_config/config/rasmt_moveit_controllers.yaml
View file

@ -15,8 +15,9 @@ rasmt_arm_controller:
- rasmt_Rot_Y_4
rasmt_hand_controller:
action_ns: gripper_cmd
type: GripperCommand
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- rasmt_Slide_1
- rasmt_Slide_1
- rasmt_Slide_2