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change gripper control from moveit to ros2_control

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This commit is contained in:
Ilya Uraev 2022-03-08 00:42:34 +04:00
parent 27271c0e06
commit b4339edc19
13 changed files with 116 additions and 43 deletions
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8
robossembler_servers/src/move_topose_action_server.cpp
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@ -18,6 +18,7 @@
// moveit libs
#include "moveit/move_group_interface/move_group_interface.h"
#include "moveit/planning_interface/planning_interface.h"
#include "moveit/robot_model_loader/robot_model_loader.h"
/*
#include <tf2/LinearMath/Quaternion.h>
@ -109,9 +110,12 @@ private:
RCLCPP_INFO(this->get_logger(), "Executing action goal");
const auto goal = goal_handle->get_goal();
auto result = std::make_shared<MoveitSendPose::Result>();
moveit::planning_interface::MoveGroupInterface move_group_interface(node_, goal->robot_name);
std::copy(move_group_interface.getJointModelGroupNames().begin(), move_group_interface.getJointModelGroupNames().end(),
std::ostream_iterator<std::string>(std::cout, ", "));
move_group_interface.setStartState(*move_group_interface.getCurrentState());
move_group_interface.setPoseTarget(goal->target_pose);
move_group_interface.setMaxVelocityScalingFactor(goal->end_effector_velocity);
move_group_interface.setMaxAccelerationScalingFactor(goal->end_effector_acceleration);
@ -121,7 +125,7 @@ private:
if(success)
{
RCLCPP_INFO(this->get_logger(), "Planning success");
move_group_interface.execute(plan);
//move_group_interface.execute(plan);
move_group_interface.move();
}else{
RCLCPP_WARN(this->get_logger(), "Failed to generate plan");