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CCF Immersive Sorting Demo
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CeTI
ROS
CeTI Cobotic Framework
CCF Immersive Sorting Demo
Commits
9e717530
Commit
9e717530
authored
2 years ago
by
Johannes Mey
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limit the movit controller to not move more than 40cm behind the table
parent
d1f50edd
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src/moveit_sorting_controller.cpp
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9e717530
...
@@ -37,6 +37,16 @@ int main(int argc, char** argv)
...
@@ -37,6 +37,16 @@ int main(int argc, char** argv)
MoveItRobotArmController
controller
{
n
,
NODE_NAME
,
robotName
};
MoveItRobotArmController
controller
{
n
,
NODE_NAME
,
robotName
};
// we can only set an absolute workspace here, because we do not have the scene yet!
geometry_msgs
::
Point
minPoint
,
maxPoint
;
minPoint
.
x
=
-
.58
;
// we need 58 free space, i.e. ~40 cm behind the table (if the robot is at -22)
minPoint
.
y
=
-
1
;
minPoint
.
z
=
0
;
// the robot can not reach under itself, i.e., into the table
maxPoint
.
x
=
1
;
maxPoint
.
y
=
1
;
maxPoint
.
z
=
1.5
;
controller
.
setWorkspace
(
minPoint
,
maxPoint
,
true
);
auto
mqttServer
=
getPrivateParameter
<
std
::
string
>
(
"mqtt_server"
,
"localhost:1883"
);
auto
mqttServer
=
getPrivateParameter
<
std
::
string
>
(
"mqtt_server"
,
"localhost:1883"
);
std
::
unique_ptr
<
MqttConnection
>
mqtt_connection
=
std
::
unique_ptr
<
MqttConnection
>
mqtt_connection
=
std
::
make_unique
<
MqttConnection
>
(
mqttServer
,
ros
::
this_node
::
getName
());
std
::
make_unique
<
MqttConnection
>
(
mqttServer
,
ros
::
this_node
::
getName
());
...
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