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➕ add test MoveitCpp node

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This commit is contained in:
Ilya Uraev 2021-11-03 15:18:12 +04:00
parent b2a89ecbde
commit 554a33fc43
15 changed files with 653 additions and 430 deletions
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18
rasms_moveit_config/srdf/rasms_description.srdf
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@ -3,7 +3,7 @@
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="rasms_description">
<robot name="rasms">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
@ -13,14 +13,6 @@
<chain base_link="base" tip_link="link6"/>
</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="pose1" group="rasms_description_arm">
<joint name="joint1" value="0"/>
<joint name="joint2" value="0"/>
<joint name="joint3" value="0.4339"/>
<joint name="joint4" value="0"/>
<joint name="joint5" value="0.9199"/>
<joint name="joint6" value="0"/>
</group_state>
<group_state name="zero_pose" group="rasms_description_arm">
<joint name="joint1" value="0"/>
<joint name="joint2" value="0"/>
@ -29,6 +21,14 @@
<joint name="joint5" value="0"/>
<joint name="joint6" value="0"/>
</group_state>
<group_state name="pose1" group="rasms_description_arm">
<joint name="joint1" value="0"/>
<joint name="joint2" value="1"/>
<joint name="joint3" value="0.4339"/>
<joint name="joint4" value="0"/>
<joint name="joint5" value="0.9199"/>
<joint name="joint6" value="-1"/>
</group_state>
<!--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="base" link2="link1" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>