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Commit e06ba267 authored by Florian Walch's avatar Florian Walch
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Merge pull request #76 in SWDEV/franka_ros from move-to-start-example to develop

* commit 'ecc13f8f':
  Move move_to_start.py to franka_example_controllers
parents 55242e6a ecc13f8f
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...@@ -11,6 +11,7 @@ Requires `libfranka` >= 0.3.0 ...@@ -11,6 +11,7 @@ Requires `libfranka` >= 0.3.0
* Fixed linker errors when building with `-DFranka_DIR` while an older version of * Fixed linker errors when building with `-DFranka_DIR` while an older version of
`ros-kinetic-libfranka` is installed `ros-kinetic-libfranka` is installed
* Added gripper joint state publisher to `franka_visualization` * Added gripper joint state publisher to `franka_visualization`
* Moved `move_to_start.py` example script to `franka_example_controllers`
## 0.2.2 - 2018-01-31 ## 0.2.2 - 2018-01-31
......
...@@ -97,7 +97,7 @@ install(FILES franka_example_controllers_plugin.xml ...@@ -97,7 +97,7 @@ install(FILES franka_example_controllers_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
) )
catkin_install_python( catkin_install_python(
PROGRAMS scripts/interactive_marker.py PROGRAMS scripts/interactive_marker.py scripts/move_to_start.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
) )
......
...@@ -13,6 +13,6 @@ ...@@ -13,6 +13,6 @@
<arg name="arm_id" value="$(arg arm_id)" /> <arg name="arm_id" value="$(arg arm_id)" />
</include> </include>
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<node name="move_to_start" pkg="panda_moveit_config" type="move_to_start.py" output="screen" required="true" /> <node name="move_to_start" pkg="franka_example_controllers" type="move_to_start.py" output="screen" required="true" />
</group> </group>
</launch> </launch>
...@@ -31,6 +31,7 @@ ...@@ -31,6 +31,7 @@
<exec_depend>franka_control</exec_depend> <exec_depend>franka_control</exec_depend>
<exec_depend>franka_description</exec_depend> <exec_depend>franka_description</exec_depend>
<exec_depend>message_runtime</exec_depend> <exec_depend>message_runtime</exec_depend>
<exec_depend>panda_moveit_config</exec_depend>
<exec_depend>rospy</exec_depend> <exec_depend>rospy</exec_depend>
<export> <export>
......
...@@ -54,7 +54,7 @@ bool CartesianPoseExampleController::init(hardware_interface::RobotHW* robot_har ...@@ -54,7 +54,7 @@ bool CartesianPoseExampleController::init(hardware_interface::RobotHW* robot_har
if (std::abs(state_handle.getRobotState().q_d[i] - q_start[i]) > 0.1) { if (std::abs(state_handle.getRobotState().q_d[i] - q_start[i]) > 0.1) {
ROS_ERROR_STREAM( ROS_ERROR_STREAM(
"CartesianPoseExampleController: Robot is not in the expected starting position for " "CartesianPoseExampleController: Robot is not in the expected starting position for "
"running this example. Run `roslaunch panda_moveit_config move_to_start.launch " "running this example. Run `roslaunch franka_example_controllers move_to_start.launch "
"robot_ip:=<robot-ip> load_gripper:=<has-attached-gripper>` first."); "robot_ip:=<robot-ip> load_gripper:=<has-attached-gripper>` first.");
return false; return false;
} }
......
...@@ -54,8 +54,9 @@ bool CartesianVelocityExampleController::init(hardware_interface::RobotHW* robot ...@@ -54,8 +54,9 @@ bool CartesianVelocityExampleController::init(hardware_interface::RobotHW* robot
if (std::abs(state_handle.getRobotState().q_d[i] - q_start[i]) > 0.1) { if (std::abs(state_handle.getRobotState().q_d[i] - q_start[i]) > 0.1) {
ROS_ERROR_STREAM( ROS_ERROR_STREAM(
"CartesianVelocityExampleController: Robot is not in the expected starting position " "CartesianVelocityExampleController: Robot is not in the expected starting position "
"for running this example. Run `roslaunch panda_moveit_config move_to_start.launch " "for running this example. Run `roslaunch franka_example_controllers "
"robot_ip:=<robot-ip> load_gripper:=<has-attached-gripper>` first."); "move_to_start.launch robot_ip:=<robot-ip> load_gripper:=<has-attached-gripper>` "
"first.");
return false; return false;
} }
} }
......
...@@ -46,7 +46,7 @@ bool JointPositionExampleController::init(hardware_interface::RobotHW* robot_har ...@@ -46,7 +46,7 @@ bool JointPositionExampleController::init(hardware_interface::RobotHW* robot_har
if (std::abs(position_joint_handles_[i].getPosition() - q_start[i]) > 0.1) { if (std::abs(position_joint_handles_[i].getPosition() - q_start[i]) > 0.1) {
ROS_ERROR_STREAM( ROS_ERROR_STREAM(
"JointPositionExampleController: Robot is not in the expected starting position for " "JointPositionExampleController: Robot is not in the expected starting position for "
"running this example. Run `roslaunch panda_moveit_config move_to_start.launch " "running this example. Run `roslaunch franka_example_controllers move_to_start.launch "
"robot_ip:=<robot-ip> load_gripper:=<has-attached-gripper>` first."); "robot_ip:=<robot-ip> load_gripper:=<has-attached-gripper>` first.");
return false; return false;
} }
......
...@@ -61,7 +61,7 @@ bool JointVelocityExampleController::init(hardware_interface::RobotHW* robot_har ...@@ -61,7 +61,7 @@ bool JointVelocityExampleController::init(hardware_interface::RobotHW* robot_har
if (std::abs(state_handle.getRobotState().q_d[i] - q_start[i]) > 0.1) { if (std::abs(state_handle.getRobotState().q_d[i] - q_start[i]) > 0.1) {
ROS_ERROR_STREAM( ROS_ERROR_STREAM(
"JointVelocityExampleController: Robot is not in the expected starting position for " "JointVelocityExampleController: Robot is not in the expected starting position for "
"running this example. Run `roslaunch panda_moveit_config move_to_start.launch " "running this example. Run `roslaunch franka_example_controllers move_to_start.launch "
"robot_ip:=<robot-ip> load_gripper:=<has-attached-gripper>` first."); "robot_ip:=<robot-ip> load_gripper:=<has-attached-gripper>` first.");
return false; return false;
} }
......
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