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All components for Inverse Control implemented and tested + publishing the current endeffector state

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This commit is contained in:
Niko Feith 2023-09-12 15:02:26 +02:00
parent 4ccb41cfd9
commit f110a4dc15
4 changed files with 1 additions and 55 deletions
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1
franka_moveit_config/launch/moveit_without_hand.launch.py
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@ -169,6 +169,7 @@ def generate_launch_description():
'config', 'config',
'panda_ros_controllers.yaml', 'panda_ros_controllers.yaml',
) )
ros2_control_node = Node( ros2_control_node = Node(
package='controller_manager', package='controller_manager',
executable='ros2_control_node', executable='ros2_control_node',

16
franka_moveit_config/srdf/hand.xacro
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@ -1,16 +0,0 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:macro name="hand" params="arm_id:='panda' ">
<group name="hand">
<link name="${arm_id}_hand"/>
<link name="${arm_id}_leftfinger"/>
<link name="${arm_id}_rightfinger"/>
<joint name="${arm_id}_finger_joint1"/>
<passive_joint name="${arm_id}_finger_joint2"/>
</group>
<disable_collisions link1="${arm_id}_hand" link2="${arm_id}_leftfinger" reason="Adjacent"/>
<disable_collisions link1="${arm_id}_hand" link2="${arm_id}_rightfinger" reason="Adjacent"/>
<disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_rightfinger" reason="Default"/>
</xacro:macro>
</robot>

8
franka_moveit_config/srdf/panda_arm.srdf.xacro
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@ -2,18 +2,10 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:arg name="arm_id" default="panda"/> <!-- Name of this panda --> <xacro:arg name="arm_id" default="panda"/> <!-- Name of this panda -->
<xacro:arg name="hand" default="true"/> <!-- Should a franka_gripper be mounted at the flange? (Currently does not work without it) -->
<xacro:property name="arm_id" value="$(arg arm_id)"/> <xacro:property name="arm_id" value="$(arg arm_id)"/>
<xacro:include filename="$(find franka_moveit_config)/srdf/panda_arm.xacro"/> <xacro:include filename="$(find franka_moveit_config)/srdf/panda_arm.xacro"/>
<xacro:panda_arm arm_id="${arm_id}"/> <xacro:panda_arm arm_id="${arm_id}"/>
<xacro:if value="$(arg hand)">
<xacro:include filename="$(find franka_moveit_config)/srdf/hand.xacro"/>
<xacro:hand arm_id="${arm_id}"/>
<xacro:include filename="$(find franka_moveit_config)/srdf/panda_arm_hand.xacro"/>
<xacro:panda_arm_hand arm_id="${arm_id}"/>
</xacro:if>
</robot> </robot>

31
franka_moveit_config/srdf/panda_arm_hand.xacro
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@ -1,31 +0,0 @@
<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:macro name="panda_arm_hand" params="arm_id:='panda' ">
<group_state name="open" group="hand">
<joint name="${arm_id}_finger_joint1" value="0.035"/>
<joint name="${arm_id}_finger_joint2" value="0.035"/>
</group_state>
<group_state name="close" group="hand">
<joint name="${arm_id}_finger_joint1" value="0"/>
<joint name="${arm_id}_finger_joint2" value="0"/>
</group_state>
<end_effector name="hand_tcp" parent_link="${arm_id}_hand_tcp" group="hand" parent_group="${arm_id}_manipulator"/>
<end_effector name="hand" parent_link="${arm_id}_link8" group="hand" parent_group="${arm_id}_arm"/>
<disable_collisions link1="${arm_id}_hand" link2="${arm_id}_link3" reason="Never"/>
<disable_collisions link1="${arm_id}_hand" link2="${arm_id}_link4" reason="Never"/>
<disable_collisions link1="${arm_id}_hand" link2="${arm_id}_link6" reason="Never"/>
<disable_collisions link1="${arm_id}_hand" link2="${arm_id}_link7" reason="Adjacent"/>
<disable_collisions link1="${arm_id}_hand" link2="${arm_id}_link8" reason="Adjacent"/>
<disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_link3" reason="Never"/>
<disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_link4" reason="Never"/>
<disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_link6" reason="Never"/>
<disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_link7" reason="Never"/>
<disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_link8" reason="Never"/>
<disable_collisions link1="${arm_id}_link3" link2="${arm_id}_rightfinger" reason="Never"/>
<disable_collisions link1="${arm_id}_link4" link2="${arm_id}_rightfinger" reason="Never"/>
<disable_collisions link1="${arm_id}_link6" link2="${arm_id}_rightfinger" reason="Never"/>
<disable_collisions link1="${arm_id}_link7" link2="${arm_id}_rightfinger" reason="Never"/>
<disable_collisions link1="${arm_id}_link8" link2="${arm_id}_rightfinger" reason="Never"/>
</xacro:macro>
</robot>