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Replace the fk solver with kdl kinematics (#53)

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* Replace the fk solver with kdl kinematics

* Resolve the wrong kdl kinematics due to ill robot tree structure

* Apply isort and black and apply some naming changes

* Remove white spaces, blanks

* Change file permission 755 to 644

* Change file permission 755 to 644

* Change file permission 755 to 644

* Change file permission 755 to 644

* Change file permission 644 to 755
This commit is contained in:
Cheolhui
2019-05-25 00:15:25 +09:00
committed by Whi Kwon
parent 4b56ae781b
commit af95ab14f6
3 changed files with 372 additions and 68 deletions
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launch/open_manipulator_env.launch
+10 -20
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@@ -7,10 +7,11 @@
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- rviz & tf related args -->
<arg name="robot_name" default="open_manipulator"/>
<arg name="open_rviz" default="false" />
<arg name="use_gui" default="false" />
<!-- robot URDF parse args -->
<arg name="om_urdf" value="robot_description"/>
<arg name="urdf_param" default="/robot_description"/>
<param name="$(arg om_urdf)" textfile="$(find kair_algorithms)/urdf/open_manipulator.urdf"/>
<arg name="load_robot_description" default="false"/>
<!-- gazebo related -->
<rosparam file="$(find open_manipulator_gazebo)/config/gazebo_controller.yaml" command="load" />
@@ -23,28 +24,17 @@
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- rviz related -->
<!-- Send joint values -->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="/use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list" subst_value="true">["$(arg robot_name)/joint_states"]</rosparam>
</node>
<!-- Combine joint values to TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
<!--KDL chain related args-->
<param if="$(arg load_robot_description)" name="$(arg urdf_param)" command="$(find xacro)/xacro --inorder $(find kair_algorithms)/urdf/om.urdf"/>
<!-- Show in Rviz -->
<group if="$(arg open_rviz)">
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find open_manipulator_description)/rviz/open_manipulator.rviz"/>
</group>
<!-- Load the URDF into the ROS Parameter Server -->
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find open_manipulator_description)/urdf/open_manipulator.urdf.xacro'"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model open_manipulator -z 0.0 -param robot_description"/>
<!-- ros_control robotis manipulator launch file -->
<!-- ros_control robotis manipulator launch file -->
<include file="$(find open_manipulator_gazebo)/launch/open_manipulator_controller.launch"/>
</launch>