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Migrate to Gazebo Fortress

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Ilya Uraev 2023-02-03 07:04:12 +00:00 • committed by Igor Brylyov
parent b34c00a9b9
commit e46c7bef74
113 changed files with 2751 additions and 25450 deletions
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80
rasmt_moveit_config/launch/rasmt_moveit.launch.py
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@ -97,8 +97,12 @@ def generate_launch_description():
}
# Trajectory execution
trajectory_execution = {"allow_trajectory_execution": True,
"moveit_manage_controllers": True}
trajectory_execution = {
"moveit_manage_controllers": True,
"trajectory_execution.allowed_execution_duration_scaling": 1.2,
"trajectory_execution.allowed_goal_duration_margin": 0.5,
"trajectory_execution.allowed_start_tolerance": 0.01,
}
# Controllers
controllers_yaml = load_yaml(
@ -156,47 +160,47 @@ def generate_launch_description():
]
)
move_topose_action_server = Node(
package="robossembler_servers",
executable="move_topose_action_server",
name="move_to_pose_moveit",
parameters=[
robot_description,
robot_description_semantic,
kinematics_yaml,
robot_description_planning,
ompl_yaml,
planning,
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters,
use_sim_time
]
)
# move_topose_action_server = Node(
# package="robossembler_servers",
# executable="move_topose_action_server",
# name="move_to_pose_moveit",
# parameters=[
# robot_description,
# robot_description_semantic,
# kinematics_yaml,
# robot_description_planning,
# ompl_yaml,
# planning,
# trajectory_execution,
# moveit_controllers,
# planning_scene_monitor_parameters,
# use_sim_time
# ]
# )
move_cartesian_path_action_server = Node(
package="robossembler_servers",
executable="move_cartesian_path_action_server",
name="move_cartesian_path_action_server",
parameters=[
robot_description,
robot_description_semantic,
kinematics_yaml,
robot_description_planning,
ompl_yaml,
planning,
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters,
use_sim_time
]
)
# move_cartesian_path_action_server = Node(
# package="robossembler_servers",
# executable="move_cartesian_path_action_server",
# name="move_cartesian_path_action_server",
# parameters=[
# robot_description,
# robot_description_semantic,
# kinematics_yaml,
# robot_description_planning,
# ompl_yaml,
# planning,
# trajectory_execution,
# moveit_controllers,
# planning_scene_monitor_parameters,
# use_sim_time
# ]
# )
launch_nodes = []
launch_nodes.append(rviz)
launch_nodes.append(move_group_node)
launch_nodes.append(move_topose_action_server)
launch_nodes.append(move_cartesian_path_action_server)
# launch_nodes.append(move_topose_action_server)
# launch_nodes.append(move_cartesian_path_action_server)
# launch_nodes.append(move_to_joint_state_action_server)