wassname/kair_algorithms_draft
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Replace the fk solver with kdl kinematics

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This commit is contained in:
Cheolhui
2019-05-04 19:48:36 +09:00
parent c1f348775e
commit ce430fb0f3
59 changed files with 341 additions and 34 deletions
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launch/open_manipulator_env.launch
+14 -19
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@@ -7,10 +7,12 @@
<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/om.urdf"/>
<arg name="load_robot_description" default="false"/>
<!-- gazebo related -->
<rosparam file="$(find open_manipulator_gazebo)/config/gazebo_controller.yaml" command="load" />
@@ -23,28 +25,21 @@
<arg name="headless" value="$(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>