NikoFeith
b765cba632
smooth movement of the gripper
2024-05-15 13:28:36 +02:00
NikoFeith
1ffa81cfba
smooth movement of the gripper
2024-05-14 18:16:45 +02:00
NikoFeith
c891c2c741
Testing gripper forward controller
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Added mapping routine for ps5 controller
2024-05-14 17:50:40 +02:00
NikoFeith
5077372894
Real robot works with servo
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gripper needs different update loop and sometimes has too much current and then the whole robot goes into error recovery mode
2024-05-13 17:38:57 +02:00
NikoFeith
bcba4ef3d2
controller from ur_robotiq_control.launch.py starts up
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ur_robotiq_moveit.launch.py cant find gripper_gap joint
2024-05-13 11:34:34 +02:00
NikoFeith
d2768af3c5
controller from ur_robotiq_control.launch.py starts up
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ur_robotiq_moveit.launch.py cant find gripper_gap joint
2024-05-07 18:07:59 +02:00
NikoFeith
cb62bc6bd0
Interface working
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transformation from raw 0-255 (in reality 3-230) to 0.0-0.14 (reality 0.0-0.1426) not precise - need some additional work
plan giving 3-5 gaps addtional to 0.0 to fit a calibration curve - maybe a calibration launch file which goes to specific positions and the user measures the values and enters the real values to calibrate the gripper
2024-05-07 16:22:18 +02:00
NikoFeith
a31be7d77e
hardwareinterface doesnt export the command interfaces correctly
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Issue probably in the Robotiq2fSocketAdapter.cpp since the mock hardware socket works fine
fixed some issues in 85 urdf
2024-05-02 13:55:10 +02:00
NikoFeith
dc82ec4787
problems with ack message -> it is not in the right format
2024-04-30 20:09:11 +02:00
ec5f28fd76
Robotiq Gripper Command tested on sim gripper
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adapted the launch file to work properly
2024-04-19 16:20:53 +02:00
50564adf6a
robotiq_gripper_command_controller.cpp build complete
2024-04-18 18:37:23 +02:00
71643c7f80
Started with GripperCommand Controller
2024-04-17 14:25:48 +02:00
79d1eec137
Forward Controller working
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Now 2 states where published:
gripper_gap - which is the actuall gap between the two finger plates
finger_joint - which is the old angle
2024-04-16 18:22:42 +02:00
dc53a7326f
Forward Controller working
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Now 2 states where published:
gripper_gap - which is the actuall gap between the two finger plates
finger_joint - which is the old angle
2024-04-16 18:13:25 +02:00
5b86af00da
Forward Controller working
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But its not using the Gap as Control Value but the angles
2024-04-16 15:42:43 +02:00
95cf345de4
Forward controller compiled
2024-04-16 13:24:02 +02:00
91593c5525
mock system working
2024-04-15 13:56:10 +02:00
1e99f38daf
mock system working
2024-04-15 13:53:41 +02:00
d0d759a787
mock system working
2024-04-15 13:51:52 +02:00
3d098d19ab
mock system working
2024-04-15 13:49:49 +02:00
6f6971867c
mock system working
2024-04-15 13:46:03 +02:00
d2de869e86
Mock system running
...
Controllers not tested
2024-04-12 17:07:41 +02:00
a59a248969
build complete
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now launch debugging
2024-04-12 11:26:22 +02:00
1be83c8f93
debugging
2024-04-11 18:44:38 +02:00
7858d6ef12
debugging
2024-04-11 18:42:12 +02:00
719502e631
debugging
2024-04-11 18:28:14 +02:00
625c5082b0
finished implementation of new hardware interface
2024-04-11 15:15:20 +02:00
ad34edc818
extracted the tool communication launch
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added new Robotiq package for hardware interface with socket adapter
2024-04-11 09:57:43 +02:00
149e44c90b
gripper controlled by ps5 controller
2024-04-05 13:13:08 +02:00
5d45c4ee6e
servo working without collision checking for twist and joints
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gripper not included in servo
2024-04-04 18:33:56 +02:00
1026fbd939
added .colcon_ignore to cartesian_controller_tests/simulation
2024-04-04 15:08:48 +02:00
44e3c4ad95
fixing dependcies issues by removing all submodules
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add the packages as .repos
2024-04-04 14:48:54 +02:00
2b500f3560
Added cartesian_controllers as a submodule
2024-04-04 11:31:42 +02:00
14126b5b7d
servo not working with collsion checking
2024-04-04 09:46:04 +02:00
6bdeba687e
servo not working due to an error - moveit thinks the robot is in collision all the time and with twist cmd in addition very close to a singularity
2024-04-03 17:31:10 +02:00
082616eb7e
added ps5_control.py
2024-04-03 16:50:26 +02:00
2fa4387147
initial_joint_controller is now set depending on use_fake_hardware flag and not a seperate flag
2024-04-03 11:06:56 +02:00
79aa262153
Gripper has now a fake hardware controller (joint_trajectory_controller/JointTrajectoryController)
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ur_robotiq_control.launch.py and ur_robotiq_moveit.launch.py work as expected
2024-04-03 10:59:07 +02:00
ce035fa6d7
still error in moveit (gripper motion can be planned but not executed)
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updated README.md
2024-04-02 18:54:31 +02:00
ab2278c0c8
Fixed ur_robotiq_control.launch.py error
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added ur_robotiq_servo
2024-04-02 14:55:40 +02:00
503587c227
Fixed Docker Compose build error (cant find ros-humble-hardware-interface, ros-humble-controller-interface)
2024-03-25 10:11:43 +01:00
6449dccd60
ur_robotiq_control.launch.py
...
and ur_robotiq_moveit.launch.py
Working
2024-03-22 16:51:46 +01:00
1e52a8f81f
issue with Gripper controllers
2024-03-21 17:12:39 +01:00
124018526b
issue with Gripper controllers
2024-03-21 17:12:24 +01:00
8d1f4642dc
issue with Gripper controllers
2024-03-21 15:28:24 +01:00
b88d58c291
fixed UR_ROS2_Driver checkout version
2024-03-21 13:05:45 +01:00
6f3999d52d
urdf and srdf are not passed as dicts but as {'robot_description': <launch.substitutions.command.Command object at 0x7358a27fb6d0>} -> maybe the mistake
2024-03-21 13:03:20 +01:00
065a987c7b
urdf and srdf are not passed as dicts but as {'robot_description': <launch.substitutions.command.Command object at 0x7358a27fb6d0>} -> maybe the mistake
2024-03-21 13:03:03 +01:00
a8088a404c
urdf and srdf are not passed as dicts but as {'robot_description': <launch.substitutions.command.Command object at 0x7358a27fb6d0>} -> maybe the mistake
2024-03-20 19:11:53 +01:00
ligerfotis
e7d0da0c07
add rviz for combined modules
2024-03-19 12:18:30 +01:00
