From 124018526b402cadcb2fa08947fec1fd876717ae Mon Sep 17 00:00:00 2001 From: Niko Date: Thu, 21 Mar 2024 17:12:24 +0100 Subject: [PATCH] issue with Gripper controllers --- .../config/ur_robotiq_controllers.yaml | 2 +- .../launch/ur_robotiq_controller.launch.py | 2 +- .../urdf/ur_robotiq.urdf.xacro | 6 +- .../urdf/ur_to_robotiq_adapter.urdf.xacro | 2 +- .../config/controllers.yaml | 10 +- .../config/initial_positions.yaml | 17 +- .../config/kinematics.yaml | 2 +- .../config/ompl_planning.yaml | 2 +- .../config/robotiq_update_rate.yaml | 3 - .../launch/demo.launch.py | 7 - .../launch/move_group.launch.py | 7 - .../launch/moveit_rviz.launch.py | 7 - .../launch/rsp.launch.py | 7 - .../launch/spawn_controllers.launch.py | 7 - .../launch/static_virtual_joint_tfs.launch.py | 7 - ....launch.py => ur_robotiq_moveit.launch.py} | 28 +- src/ur_robotiq_moveit_config/package.xml | 10 +- src/ur_robotiq_moveit_config/rviz/moveit.rviz | 51 --- .../rviz/view_robot.rviz | 311 ++++++++++++++++++ .../srdf/ur_robotiq.srdf | 2 +- .../srdf/ur_robotiq_macro.srdf.xacro | 3 +- 21 files changed, 347 insertions(+), 146 deletions(-) delete mode 100644 src/ur_robotiq_moveit_config/config/robotiq_update_rate.yaml delete mode 100644 src/ur_robotiq_moveit_config/launch/demo.launch.py delete mode 100644 src/ur_robotiq_moveit_config/launch/move_group.launch.py delete mode 100644 src/ur_robotiq_moveit_config/launch/moveit_rviz.launch.py delete mode 100644 src/ur_robotiq_moveit_config/launch/rsp.launch.py delete mode 100644 src/ur_robotiq_moveit_config/launch/spawn_controllers.launch.py delete mode 100644 src/ur_robotiq_moveit_config/launch/static_virtual_joint_tfs.launch.py rename src/ur_robotiq_moveit_config/launch/{ur3e_robotiq.launch.py => ur_robotiq_moveit.launch.py} (92%) delete mode 100644 src/ur_robotiq_moveit_config/rviz/moveit.rviz create mode 100644 src/ur_robotiq_moveit_config/rviz/view_robot.rviz diff --git a/src/ur_robotiq_description/config/ur_robotiq_controllers.yaml b/src/ur_robotiq_description/config/ur_robotiq_controllers.yaml index 6ce1ef9..5cafde7 100644 --- a/src/ur_robotiq_description/config/ur_robotiq_controllers.yaml +++ b/src/ur_robotiq_description/config/ur_robotiq_controllers.yaml @@ -134,7 +134,7 @@ forward_position_controller: robotiq_gripper_controller: ros__parameters: default: true - joint: $(var tf_prefix)robotiq_140_left_knuckle_joint + joint: $(var tf_prefix)finger_joint use_effort_interface: true use_speed_interface: true diff --git a/src/ur_robotiq_description/launch/ur_robotiq_controller.launch.py b/src/ur_robotiq_description/launch/ur_robotiq_controller.launch.py index 7629a81..b042e2a 100644 --- a/src/ur_robotiq_description/launch/ur_robotiq_controller.launch.py +++ b/src/ur_robotiq_description/launch/ur_robotiq_controller.launch.py @@ -496,7 +496,7 @@ def generate_launch_description(): ) ) declared_arguments.append( - DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?") + DeclareLaunchArgument("launch_rviz", default_value="false", description="Launch RViz?") ) declared_arguments.append( DeclareLaunchArgument( diff --git a/src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro b/src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro index 4b8adac..a774bfe 100644 --- a/src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro +++ b/src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro @@ -1,8 +1,8 @@ - + - + @@ -52,7 +52,7 @@ - + diff --git a/src/ur_robotiq_description/urdf/ur_to_robotiq_adapter.urdf.xacro b/src/ur_robotiq_description/urdf/ur_to_robotiq_adapter.urdf.xacro index d5509bf..d35f7a3 100644 --- a/src/ur_robotiq_description/urdf/ur_to_robotiq_adapter.urdf.xacro +++ b/src/ur_robotiq_description/urdf/ur_to_robotiq_adapter.urdf.xacro @@ -1,5 +1,5 @@ - + diff --git a/src/ur_robotiq_moveit_config/config/controllers.yaml b/src/ur_robotiq_moveit_config/config/controllers.yaml index 95f43c9..1cbefce 100644 --- a/src/ur_robotiq_moveit_config/config/controllers.yaml +++ b/src/ur_robotiq_moveit_config/config/controllers.yaml @@ -2,7 +2,6 @@ controller_names: - scaled_joint_trajectory_controller - joint_trajectory_controller - robotiq_gripper_controller - - robotiq_activation_controller scaled_joint_trajectory_controller: @@ -31,14 +30,11 @@ joint_trajectory_controller: - wrist_3_joint robotiq_gripper_controller: - action_ns: antipodal_gripper_action_controller + action_ns: position_controllers type: GripperActionController default: true - joint: robotiq_85_left_knuckle_joint + joints: + - finger_joint use_effort_interface: true use_speed_interface: true -robotiq_activation_controller: - action_ns: robotiq_controllers - type: RobotiqActivationController - default: true diff --git a/src/ur_robotiq_moveit_config/config/initial_positions.yaml b/src/ur_robotiq_moveit_config/config/initial_positions.yaml index 5671c30..406c326 100644 --- a/src/ur_robotiq_moveit_config/config/initial_positions.yaml +++ b/src/ur_robotiq_moveit_config/config/initial_positions.yaml @@ -1,10 +1,7 @@ -# Default initial positions for ur_robotiq's ros2_control fake system - -initial_positions: - elbow_joint: 0 - shoulder_lift_joint: 0 - shoulder_pan_joint: 0 - wrist_1_joint: 0 - wrist_2_joint: 0 - wrist_3_joint: 0 - finger_joint: 0.695 \ No newline at end of file +elbow_joint: 0 +shoulder_lift_joint: 0 +shoulder_pan_joint: 0 +wrist_1_joint: 0 +wrist_2_joint: 0 +wrist_3_joint: 0 +finger_joint: 0.695 \ No newline at end of file diff --git a/src/ur_robotiq_moveit_config/config/kinematics.yaml b/src/ur_robotiq_moveit_config/config/kinematics.yaml index 654fb9d..d7ab8e5 100644 --- a/src/ur_robotiq_moveit_config/config/kinematics.yaml +++ b/src/ur_robotiq_moveit_config/config/kinematics.yaml @@ -4,7 +4,7 @@ ur_manipulator: kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 kinematics_solver_attempts: 3 -robotiq_gripper: +gripper: ros__parameters: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver_search_resolution: 0.005 diff --git a/src/ur_robotiq_moveit_config/config/ompl_planning.yaml b/src/ur_robotiq_moveit_config/config/ompl_planning.yaml index 5fbbcf5..4dcc7a7 100644 --- a/src/ur_robotiq_moveit_config/config/ompl_planning.yaml +++ b/src/ur_robotiq_moveit_config/config/ompl_planning.yaml @@ -52,7 +52,7 @@ planner_configs: max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 PRMstarkConfigDefault: type: geometric::PRMstar -ur_arm: +ur_manipulator: planner_configs: - SBLkConfigDefault - ESTkConfigDefault diff --git a/src/ur_robotiq_moveit_config/config/robotiq_update_rate.yaml b/src/ur_robotiq_moveit_config/config/robotiq_update_rate.yaml deleted file mode 100644 index 66ef3d7..0000000 --- a/src/ur_robotiq_moveit_config/config/robotiq_update_rate.yaml +++ /dev/null @@ -1,3 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 500 # Hz diff --git a/src/ur_robotiq_moveit_config/launch/demo.launch.py b/src/ur_robotiq_moveit_config/launch/demo.launch.py deleted file mode 100644 index d848b95..0000000 --- a/src/ur_robotiq_moveit_config/launch/demo.launch.py +++ /dev/null @@ -1,7 +0,0 @@ -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_demo_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs() - return generate_demo_launch(moveit_config) diff --git a/src/ur_robotiq_moveit_config/launch/move_group.launch.py b/src/ur_robotiq_moveit_config/launch/move_group.launch.py deleted file mode 100644 index a996b59..0000000 --- a/src/ur_robotiq_moveit_config/launch/move_group.launch.py +++ /dev/null @@ -1,7 +0,0 @@ -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_move_group_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs() - return generate_move_group_launch(moveit_config) diff --git a/src/ur_robotiq_moveit_config/launch/moveit_rviz.launch.py b/src/ur_robotiq_moveit_config/launch/moveit_rviz.launch.py deleted file mode 100644 index 809eaf2..0000000 --- a/src/ur_robotiq_moveit_config/launch/moveit_rviz.launch.py +++ /dev/null @@ -1,7 +0,0 @@ -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_moveit_rviz_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs() - return generate_moveit_rviz_launch(moveit_config) diff --git a/src/ur_robotiq_moveit_config/launch/rsp.launch.py b/src/ur_robotiq_moveit_config/launch/rsp.launch.py deleted file mode 100644 index adbac45..0000000 --- a/src/ur_robotiq_moveit_config/launch/rsp.launch.py +++ /dev/null @@ -1,7 +0,0 @@ -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_rsp_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs() - return generate_rsp_launch(moveit_config) diff --git a/src/ur_robotiq_moveit_config/launch/spawn_controllers.launch.py b/src/ur_robotiq_moveit_config/launch/spawn_controllers.launch.py deleted file mode 100644 index 405a2f3..0000000 --- a/src/ur_robotiq_moveit_config/launch/spawn_controllers.launch.py +++ /dev/null @@ -1,7 +0,0 @@ -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_spawn_controllers_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs() - return generate_spawn_controllers_launch(moveit_config) diff --git a/src/ur_robotiq_moveit_config/launch/static_virtual_joint_tfs.launch.py b/src/ur_robotiq_moveit_config/launch/static_virtual_joint_tfs.launch.py deleted file mode 100644 index 3527d48..0000000 --- a/src/ur_robotiq_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ /dev/null @@ -1,7 +0,0 @@ -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs() - return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/src/ur_robotiq_moveit_config/launch/ur3e_robotiq.launch.py b/src/ur_robotiq_moveit_config/launch/ur_robotiq_moveit.launch.py similarity index 92% rename from src/ur_robotiq_moveit_config/launch/ur3e_robotiq.launch.py rename to src/ur_robotiq_moveit_config/launch/ur_robotiq_moveit.launch.py index d1ed76e..99e3a88 100644 --- a/src/ur_robotiq_moveit_config/launch/ur3e_robotiq.launch.py +++ b/src/ur_robotiq_moveit_config/launch/ur_robotiq_moveit.launch.py @@ -126,9 +126,9 @@ def generate_launch_description(): robot_description_kinematics = load_yaml(moveit_config_package, "config/kinematics.yaml") - robot_description_planning = { - "robot_description_planning": load_yaml(ur_moveit_config_package, "config/joint_limits.yaml") - } + # robot_description_planning = { + # "robot_description_planning": load_yaml(ur_moveit_config_package, "config/joint_limits.yaml") + # } # Planning Configuration ompl_planning_pipeline_config = { @@ -170,13 +170,6 @@ def generate_launch_description(): "publish_state_updates": True, "publish_transforms_updates": True, } - print(robot_description, - robot_description_semantic, - robot_description_kinematics, - ompl_planning_pipeline_config, - trajectory_execution, - moveit_controllers, - planning_scene_monitor_parameters) # Start the actual move_group node/action server move_group_node = Node( package="moveit_ros_move_group", @@ -186,7 +179,7 @@ def generate_launch_description(): robot_description, robot_description_semantic, robot_description_kinematics, - robot_description_planning, + # robot_description_planning, ompl_planning_pipeline_config, trajectory_execution, moveit_controllers, @@ -195,13 +188,6 @@ def generate_launch_description(): ], ) - robot_state_publisher_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - output="both", - parameters=[robot_description], - ) - # rviz with moveit configuration rviz_config_file = PathJoinSubstitution( [FindPackageShare(moveit_config_package), "rviz", "view_robot.rviz"] @@ -218,7 +204,7 @@ def generate_launch_description(): robot_description_semantic, ompl_planning_pipeline_config, robot_description_kinematics, - robot_description_planning, + # robot_description_planning, ], ) @@ -242,7 +228,7 @@ def generate_launch_description(): # UR specific arguments robot_name_arg = DeclareLaunchArgument( "robot_name", - default_value= "ur", + default_value="ur", description="Name of the Universal Robot" ) @@ -277,6 +263,6 @@ def generate_launch_description(): launch_servo_arg ] # servo_node, - nodes_to_start = [move_group_node, rviz_node, robot_state_publisher_node] + nodes_to_start = [move_group_node, rviz_node, servo_node] return LaunchDescription(launch_args + nodes_to_start) diff --git a/src/ur_robotiq_moveit_config/package.xml b/src/ur_robotiq_moveit_config/package.xml index 0725496..3d467e7 100644 --- a/src/ur_robotiq_moveit_config/package.xml +++ b/src/ur_robotiq_moveit_config/package.xml @@ -39,9 +39,17 @@ rviz_common rviz_default_plugins tf2_ros - ur_robotiq_description xacro + ur_robotiq_description + ur_description + ur_robot_driver + ur_controllers + robotiq_description + robotiq_driver + robotiq_controllers + gripper_controllers + ament_cmake diff --git a/src/ur_robotiq_moveit_config/rviz/moveit.rviz b/src/ur_robotiq_moveit_config/rviz/moveit.rviz deleted file mode 100644 index f31651e..0000000 --- a/src/ur_robotiq_moveit_config/rviz/moveit.rviz +++ /dev/null @@ -1,51 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Name: Displays - Property Tree Widget: - Expanded: - - /MotionPlanning1 - - Class: rviz_common/Help - Name: Help - - Class: rviz_common/Views - Name: Views -Visualization Manager: - Displays: - - Class: rviz_default_plugins/Grid - Name: Grid - Value: true - - Class: moveit_rviz_plugin/MotionPlanning - Name: MotionPlanning - Planned Path: - Loop Animation: true - State Display Time: 0.05 s - Trajectory Topic: display_planned_path - Planning Scene Topic: monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 1 - Scene Robot: - Robot Alpha: 0.5 - Value: true - Global Options: - Fixed Frame: world - Tools: - - Class: rviz_default_plugins/Interact - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 2.0 - Focal Point: - X: -0.1 - Y: 0.25 - Z: 0.30 - Name: Current View - Pitch: 0.5 - Target Frame: world - Yaw: -0.623 -Window Geometry: - Height: 975 - QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Width: 1200 diff --git a/src/ur_robotiq_moveit_config/rviz/view_robot.rviz b/src/ur_robotiq_moveit_config/rviz/view_robot.rviz new file mode 100644 index 0000000..47e8f87 --- /dev/null +++ b/src/ur_robotiq_moveit_config/rviz/view_robot.rviz @@ -0,0 +1,311 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 87 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.4957627058029175 + Tree Height: 573 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 0.1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: false + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: true + Interrupt Display: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: ur_manipulator + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 0.1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 6.619869709014893 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.2489434778690338 + Y: -0.013962505385279655 + Z: 0.13800443708896637 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4103981554508209 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.210397720336914 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1381 + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000400000000000001e0000004f6fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000046000002e3000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000005201000003fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032a00000212000001b9010000030000000100000110000004f6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000046000004f6000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000070e000004f600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2560 + X: 0 + Y: 30 diff --git a/src/ur_robotiq_moveit_config/srdf/ur_robotiq.srdf b/src/ur_robotiq_moveit_config/srdf/ur_robotiq.srdf index 53b6aa4..79c1584 100644 --- a/src/ur_robotiq_moveit_config/srdf/ur_robotiq.srdf +++ b/src/ur_robotiq_moveit_config/srdf/ur_robotiq.srdf @@ -2,7 +2,7 @@ - + diff --git a/src/ur_robotiq_moveit_config/srdf/ur_robotiq_macro.srdf.xacro b/src/ur_robotiq_moveit_config/srdf/ur_robotiq_macro.srdf.xacro index 9414a7e..77ba078 100644 --- a/src/ur_robotiq_moveit_config/srdf/ur_robotiq_macro.srdf.xacro +++ b/src/ur_robotiq_moveit_config/srdf/ur_robotiq_macro.srdf.xacro @@ -10,8 +10,7 @@ - - +