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Incluso il file di default nella configurazione di lancio

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This commit is contained in:
Emanuele
2019-10-23 14:22:10 +02:00
parent 76002a3956
commit 34195f6d86
2 changed files with 12 additions and 8 deletions
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12
src/roboglue_ros/config/jointDefaults.yaml
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@@ -8,9 +8,9 @@ jointNames:
- wrist_3_joint - wrist_3_joint
#Home position of each joint in degrees #Home position of each joint in degrees
jointHomePosition: jointHomePosition:
- !!float 90.0 - shoulder_pan_joint: !!float 90.0
- !!float -135.0 - shoulder_lift_joint: !!float -135.0
- !!float 135.0 - elbow_joint: !!float 135.0
- !!float -90.0 - wrist_1_joint: !!float -90.0
- !!float -90.0 - wrist_2_joint: !!float -90.0
- !!float 0.0 - wrist_3_joint: !!float 0.0

8
src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
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@@ -15,21 +15,25 @@
<!-- Common parameter Server --> <!-- Common parameter Server -->
<group ns="roboglue_ros_common"> <group ns="roboglue_ros_common">
<!-- ROS internal topics -->
<param name="INstate" type="string" value="/roboglue_com/com2ros/state" /> <param name="INstate" type="string" value="/roboglue_com/com2ros/state" />
<param name="INcommands" type="string" value="/roboglue_com/com2ros/commands" /> <param name="INcommands" type="string" value="/roboglue_com/com2ros/commands" />
<param name="INcoordinates" type="string" value="/roboglue_com/com2ros/coordinates" /> <param name="INcoordinates" type="string" value="/roboglue_com/com2ros/coordinates" />
<param name="OUTstate" type="string" value="/roboglue_com/ros2com/state" /> <param name="OUTstate" type="string" value="/roboglue_com/ros2com/state" />
<param name="OUTcommands" type="string" value="/roboglue_com/ros2com/commands" /> <param name="OUTcommands" type="string" value="/roboglue_com/ros2com/commands" />
<param name="OUTcoordinates" type="string" value="/roboglue_com/ros2com/coordinates" /> <param name="OUTcoordinates" type="string" value="/roboglue_com/ros2com/coordinates" />
<!-- ROS movement topics (For UR official driver use scalable position controller) -->
<param name="OUTdelta_jog" type="string" value="/jog_arm_server/delta_jog_cmds" /> <param name="OUTdelta_jog" type="string" value="/jog_arm_server/delta_jog_cmds" />
<param name="OUTdelta_joint_jog" type="string" value="/jog_arm_server/delta_joint_jog_cmds" /> <param name="OUTdelta_joint_jog" type="string" value="/jog_arm_server/delta_joint_jog_cmds" />
<!-- For UR official driver use scalable position controller -->
<param name="OUTtraj_jog" type="string" value="/scaled_pos_traj_controller/command" /> <param name="OUTtraj_jog" type="string" value="/scaled_pos_traj_controller/command" />
<!-- ROS robot model description and defaults -->
<param name="robot_model_name" type="string" value="robot_description" /> <param name="robot_model_name" type="string" value="robot_description" />
<param name="move_group_name" type="string" value="manipulator" /> <param name="move_group_name" type="string" value="manipulator" />
<param name="min_nonzero_move" type="double" value="0.005" />
<param name="joint_defaults" type="yaml" textfile="$(find roboglue_ros)/config/joiontDefaults.yaml">
<!-- ROS node loop parameters -->
<param name="loop_rate" type="int" value="100" /> <param name="loop_rate" type="int" value="100" />
<param name="msg_buffer" type="int" value="100" /> <param name="msg_buffer" type="int" value="100" />
<param name="min_nonzero_move" type="double" value="0.005" />
</group> </group>
<!-- Message Relay to/from MQTT --> <!-- Message Relay to/from MQTT -->