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OLD CCF - The CeTI Cobotic Framework
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This is an archived project. Repository and other project resources are read-only.
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CeTI
ROS
CeTI Cobotic Framework
OLD CCF - The CeTI Cobotic Framework
Commits
17c0d795
Commit
17c0d795
authored
3 years ago
by
Sebastian Ebert
Browse files
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Plain Diff
fixed bugs related to config
parent
dfb797b6
Branches
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Changes
2
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2 changed files
config/config.yaml
+5
-6
5 additions, 6 deletions
config/config.yaml
src/ccf/util/scene_controller_node.cpp
+8
-28
8 additions, 28 deletions
src/ccf/util/scene_controller_node.cpp
with
13 additions
and
34 deletions
config/config.yaml
+
5
−
6
View file @
17c0d795
connector_node_ros_cgv
:
connector_node_ros_cgv
:
cgv_address
:
"
tcp://*:6576"
cgv_address
:
"
tcp://*:6576"
scene_controller
:
max_grasp_approach_velocity
:
0.2
max_grasp_approach_velocity
:
0.2
max_grasp_approach_acceleration
:
0.2
max_grasp_approach_acceleration
:
0.2
max_grasp_transition_velocity
:
0.2
max_grasp_transition_velocity
:
0.2
max_grasp_transition_acceleration
:
0.2
max_grasp_transition_acceleration
:
0.2
tud_grasp_force
:
12.5
tud_grasp_force
:
12.5
This diff is collapsed.
Click to expand it.
src/ccf/util/scene_controller_node.cpp
+
8
−
28
View file @
17c0d795
...
@@ -728,15 +728,15 @@ int main(int argc, char **argv) {
...
@@ -728,15 +728,15 @@ int main(int argc, char **argv) {
ros
::
param
::
get
(
"is_simulated_robot"
,
world_state
::
is_simulated_robot
);
ros
::
param
::
get
(
"is_simulated_robot"
,
world_state
::
is_simulated_robot
);
if
(
world_state
::
is_simulated_robot
)
{
if
(
!
world_state
::
is_simulated_robot
)
{
ROS_
INFO
_STREAM
(
"[SCENECONTROLLER] Using setup for real robot."
);
ROS_
ERROR
_STREAM
(
"[SCENECONTROLLER] Using setup for real robot."
);
if
(
!
ros
::
param
::
has
(
"
/scene_controller/
max_grasp_approach_velocity"
)
||
if
(
!
ros
::
param
::
has
(
"max_grasp_approach_velocity"
)
||
!
ros
::
param
::
has
(
"
/scene_controller/
max_grasp_approach_acceleration"
)
||
!
ros
::
param
::
has
(
"max_grasp_approach_acceleration"
)
||
!
ros
::
param
::
has
(
"
/scene_controller/
max_grasp_transition_velocity"
)
||
!
ros
::
param
::
has
(
"max_grasp_transition_velocity"
)
||
!
ros
::
param
::
has
(
"
/scene_controller/
max_grasp_transition_acceleration"
))
{
!
ros
::
param
::
has
(
"max_grasp_transition_acceleration"
))
{
ROS_WARN_STREAM
(
ROS_WARN_STREAM
(
"[SCENECONTROLLER] Velocities and accelerations are not completely configured. -> Fallback to default value. "
);
"[SCENECONTROLLER] Velocities and accelerations are not completely configured. -> Fallback to default value. "
);
...
@@ -746,35 +746,15 @@ int main(int argc, char **argv) {
...
@@ -746,35 +746,15 @@ int main(int argc, char **argv) {
ros
::
param
::
set
(
"max_grasp_transition_velocity"
,
0.05
);
ros
::
param
::
set
(
"max_grasp_transition_velocity"
,
0.05
);
ros
::
param
::
set
(
"max_grasp_transition_acceleration"
,
0.05
);
ros
::
param
::
set
(
"max_grasp_transition_acceleration"
,
0.05
);
}
else
{
double
max_grasp_approach_velocity
=
0
;
double
max_grasp_approach_acceleration
=
0
;
double
max_grasp_transition_velocity
=
0
;
double
max_grasp_transition_acceleration
=
0
;
ros
::
param
::
get
(
"/scene_controller/max_grasp_approach_velocity"
,
max_grasp_approach_velocity
);
ros
::
param
::
get
(
"/scene_controller/max_grasp_approach_acceleration"
,
max_grasp_approach_acceleration
);
ros
::
param
::
get
(
"/scene_controller/max_grasp_transition_velocity"
,
max_grasp_transition_velocity
);
ros
::
param
::
get
(
"/scene_controller/max_grasp_transition_acceleration"
,
max_grasp_transition_acceleration
);
ROS_INFO_STREAM
(
"[SCENECONTROLLER] Applied max_grasp_approach_velocity "
<<
max_grasp_approach_velocity
);
ROS_INFO_STREAM
(
"[SCENECONTROLLER] Applied max_grasp_approach_acceleration "
<<
max_grasp_approach_acceleration
);
ROS_INFO_STREAM
(
"[SCENECONTROLLER] Applied max_grasp_transition_velocity "
<<
max_grasp_transition_velocity
);
ROS_INFO_STREAM
(
"[SCENECONTROLLER] Applied max_grasp_transition_acceleration "
<<
max_grasp_transition_acceleration
);
}
}
if
(
!
ros
::
param
::
has
(
"
/scene_controller/
tud_grasp_force"
))
{
if
(
!
ros
::
param
::
has
(
"tud_grasp_force"
))
{
ROS_WARN_STREAM
(
ROS_WARN_STREAM
(
"[SCENECONTROLLER] Grasp force is not configured. -> Fallback to default value. "
);
"[SCENECONTROLLER] Grasp force is not configured. -> Fallback to default value. "
);
ros
::
param
::
set
(
"tud_grasp_force"
,
9.5
);
ros
::
param
::
set
(
"tud_grasp_force"
,
9.5
);
}
else
{
}
else
{
double
tud_grasp_fource
=
0
;
double
tud_grasp_fource
=
0
;
ros
::
param
::
get
(
"
/scene_controller/
tud_grasp_force"
,
tud_grasp_fource
);
ros
::
param
::
get
(
"tud_grasp_force"
,
tud_grasp_fource
);
ROS_INFO_STREAM
(
"[SCENECONTROLLER] Applied tud_grasp_force "
<<
tud_grasp_fource
);
ROS_INFO_STREAM
(
"[SCENECONTROLLER] Applied tud_grasp_force "
<<
tud_grasp_fource
);
}
}
}
}
...
...
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