From 49c8a25111303a7ef8425f659ca7b96bf4e5f82d Mon Sep 17 00:00:00 2001 From: Bastian Hofmann Date: Thu, 23 Feb 2023 16:33:43 +0000 Subject: [PATCH] it works! --- src/iisy_config_2/.setup_assistant | 6 +- src/iisy_config_2/config/kinematics.yaml | 5 +- src/iisy_config_2/config/moveit.rviz | 246 +----------------- .../config/moveit_controllers.yaml | 2 +- src/moveit_test/src/test.cpp | 4 +- 5 files changed, 19 insertions(+), 244 deletions(-) diff --git a/src/iisy_config_2/.setup_assistant b/src/iisy_config_2/.setup_assistant index 4092879..b3e2a02 100644 --- a/src/iisy_config_2/.setup_assistant +++ b/src/iisy_config_2/.setup_assistant @@ -1,13 +1,13 @@ moveit_setup_assistant_config: urdf: - package: iisy_config - relative_path: urdf/iisy_xacro.urdf + package: iisy_config_2 + relative_path: config/iisy.urdf srdf: relative_path: config/iisy.srdf package_settings: author_name: Bastian Hofmann author_email: bhogm4@gmail.com - generated_timestamp: 1676632718 + generated_timestamp: 1677166762 control_xacro: command: - position diff --git a/src/iisy_config_2/config/kinematics.yaml b/src/iisy_config_2/config/kinematics.yaml index 9e26dfe..2f6bb96 100644 --- a/src/iisy_config_2/config/kinematics.yaml +++ b/src/iisy_config_2/config/kinematics.yaml @@ -1 +1,4 @@ -{} \ No newline at end of file +arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.0050000000000000001 + kinematics_solver_timeout: 0.0050000000000000001 \ No newline at end of file diff --git a/src/iisy_config_2/config/moveit.rviz b/src/iisy_config_2/config/moveit.rviz index c8705e2..f31651e 100644 --- a/src/iisy_config_2/config/moveit.rviz +++ b/src/iisy_config_2/config/moveit.rviz @@ -1,281 +1,51 @@ Panels: - Class: rviz_common/Displays - Help Height: 70 Name: Displays Property Tree Widget: Expanded: - /MotionPlanning1 - - /InteractiveMarkers1 - Splitter Ratio: 0.5 - Tree Height: 163 - Class: rviz_common/Help Name: Help - 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 + - Class: rviz_default_plugins/Grid 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_Workspace: - Center: - X: 0 - Y: 0 - Z: 0 - Size: - X: 2 - Y: 2 - Z: 2 + - Class: moveit_rviz_plugin/MotionPlanning Name: MotionPlanning Planned Path: - Color Enabled: false - Interrupt Display: false - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_bottom: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - base_top: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link1_full: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2_bottom: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2_top: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link3_bottom: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link3_top: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - table: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false Loop Animation: true - 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 - Use Sim Time: false - 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: arm - 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: 1 - 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_bottom: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - base_top: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link1_full: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2_bottom: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2_top: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link3_bottom: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link3_top: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - table: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false Robot Alpha: 0.5 - Show Robot Collision: false - Show Robot Visual: true Value: true - Velocity_Scaling_Factor: 0.9999999999999999 - - Class: rviz_default_plugins/InteractiveMarkers - Enable Transparency: true - Enabled: true - Interactive Markers Namespace: "" - Name: InteractiveMarkers - Show Axes: false - Show Descriptions: true - Show Visual Aids: false - Value: true - 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 - Transformation: - Current: - Class: rviz_default_plugins/TF Value: true Views: Current: Class: rviz_default_plugins/Orbit - Distance: 4.384417533874512 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false + Distance: 2.0 Focal Point: - X: -0.10000000149011612 + X: -0.1 Y: 0.25 - Z: 0.30000001192092896 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false + Z: 0.30 Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.4799998998641968 + Pitch: 0.5 Target Frame: world - Value: Orbit (rviz_default_plugins) - Yaw: 3.7451796531677246 - Saved: ~ + Yaw: -0.623 Window Geometry: - Displays: - collapsed: false Height: 975 - Help: - collapsed: false - Hide Left Dock: false - Hide Right Dock: false - MotionPlanning: - collapsed: false - MotionPlanning - Trajectory Slider: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000002b400000379fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000003f00fffffffb000000100044006900730070006c006100790073010000003b00000124000000c700fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000165000001930000016a00fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fe000000b6000000a000ffffff000001f60000037900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Views: - collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Width: 1200 - X: 1360 - Y: 388 diff --git a/src/iisy_config_2/config/moveit_controllers.yaml b/src/iisy_config_2/config/moveit_controllers.yaml index 9c62b9f..3ad47a3 100644 --- a/src/iisy_config_2/config/moveit_controllers.yaml +++ b/src/iisy_config_2/config/moveit_controllers.yaml @@ -16,4 +16,4 @@ moveit_simple_controller_manager: - link1_link2_joint - link2_rot - link2_link3_joint - - link3_rot \ No newline at end of file + - link3_rot diff --git a/src/moveit_test/src/test.cpp b/src/moveit_test/src/test.cpp index b0624db..d9a6203 100644 --- a/src/moveit_test/src/test.cpp +++ b/src/moveit_test/src/test.cpp @@ -24,9 +24,11 @@ int main(int argc, char * argv[]) msg.orientation.w = 1.0; msg.position.x = 0.25; msg.position.y = 0.25; - msg.position.z = 0.0; + msg.position.z = 1.25; return msg; }(); + + move_group_interface.setGoalOrientationTolerance(100000); move_group_interface.setPoseTarget(target_pose); //std::map states = {