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add compliance controller

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This commit is contained in:
Ilya Uraev 2023-07-18 15:22:26 +03:00
parent a9a4d59313
commit 5498003cb1
1 changed files with 14 additions and 6 deletions
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20
rbs_simulation/launch/rbs_simulation.launch.py
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@ -104,7 +104,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"start_joint_controller",
default_value="true",
default_value="false",
description="Enable headless mode for robot control",
)
)
@ -240,11 +240,11 @@ def generate_launch_description():
remappings=[
('motion_control_handle/target_frame', 'target_frame'),
('cartesian_motion_controller/target_frame', 'target_frame'),
# ('cartesian_compliance_controller/target_frame', 'target_frame'),
('cartesian_compliance_controller/target_frame', 'target_frame'),
# ('cartesian_force_controller/target_wrench', 'target_wrench'),
# ('cartesian_compliance_controller/target_wrench', 'target_wrench'),
('cartesian_compliance_controller/target_wrench', 'target_wrench'),
# ('cartesian_force_controller/ft_sensor_wrench', 'ft_sensor_wrench'),
# ('cartesian_compliance_controller/ft_sensor_wrench', 'ft_sensor_wrench'),
('cartesian_compliance_controller/ft_sensor_wrench', 'ft_sensor_wrench'),
]
)
@ -271,7 +271,7 @@ def generate_launch_description():
initial_joint_controller_spawner_stopped = Node(
package="controller_manager",
executable="spawner",
arguments=[initial_joint_controller, "-c", "/controller_manager", "--incactive"],
arguments=[initial_joint_controller, "-c", "/controller_manager", "--inactive"],
condition=UnlessCondition(start_joint_controller),
)
@ -291,6 +291,12 @@ def generate_launch_description():
executable="spawner",
arguments=["motion_control_handle", "--inactive", "-c", "/controller_manager"],
)
cartesian_compliance_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["cartesian_compliance_controller", "--inactive", "-c", "/controller_manager"],
)
# Gazebo nodes
# gazebo = IncludeLaunchDescription(
@ -414,7 +420,8 @@ def generate_launch_description():
robot_description_semantic,
robot_description_kinematics,
{"use_sim_time": use_sim_time},
]
],
condition=IfCondition(with_gripper_condition)
)
#move_topose_action_server = Node(
@ -546,6 +553,7 @@ def generate_launch_description():
#bridge,
cartesian_motion_controller_spawner,
motion_control_handle_spawner,
cartesian_compliance_controller_spawner,
#pc_filter
#add_planning_scene_object
]