From 62a209ce0c19c908b860a4423b553617e762463f Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Tue, 28 Apr 2020 09:43:59 +0200
Subject: [PATCH] align with ros melodic, change arm controller name in
initializer
---
config/panda_control.yaml | 2 +-
launch/simulation.launch | 17 ++++++-----------
src/robot_state_initializer.cpp | 4 ++--
3 files changed, 9 insertions(+), 14 deletions(-)
diff --git a/config/panda_control.yaml b/config/panda_control.yaml
index 053fbdc..94c10f3 100644
--- a/config/panda_control.yaml
+++ b/config/panda_control.yaml
@@ -39,4 +39,4 @@
- panda_joint7
gains: [
1, 1, 1, 1, 1, 1, 1
- ]
\ No newline at end of file
+ ]
diff --git a/launch/simulation.launch b/launch/simulation.launch
index a982c72..0639685 100644
--- a/launch/simulation.launch
+++ b/launch/simulation.launch
@@ -1,5 +1,4 @@
<launch>
- <param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
<!-- GAZEBO arguments -->
<arg name="paused" default="false" />
@@ -9,6 +8,11 @@
<arg name="debug" default="false" />
<arg name="load_gripper" default="true" />
+ <!-- don't include franka_control, but include the controller stuff from there -->
+ <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" />
+ <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" />
+ <rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
+
<!--launch GAZEBO with own world configuration -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<!-- <arg name="world_name" value="$(find robotics_assisted_tomography)/worlds/tomography.world"/> -->
@@ -19,8 +23,6 @@
<arg name="headless" value="$(arg headless)" />
</include>
- <node name="rqt_console" pkg="rqt_console" type="rqt_console" />
- <!-- <node name="rqt_logger_level" pkg="rqt_logger_level" type="rqt_logger_level" /> -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model panda" />
@@ -28,7 +30,7 @@
<rosparam file="$(find panda_simulation)/config/panda_control.yaml" command="load" />
<!-- load the controllers -->
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller panda_arm_controller" />
+ <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller position_joint_trajectory_controller" />
<node if="$(arg load_gripper)" name="controller_spawner_hand" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="panda_hand_controller" />
@@ -57,14 +59,7 @@
<!-- run custom node for automatic intialization -->
<node pkg="panda_simulation" type="robot_state_initializer_node" name="robot_state_initializer_node" />
- <!--<node name="move_group_interface_tutorial" pkg="panda_simulation" type="move_group_interface_tutorial" respawn="false" output="screen"/>-->
-
<node name="constraint_planner" pkg="panda_simulation" type="constraint_planner" respawn="false" output="screen"/>
- <!--<node name="motion_planning_api_tutorial" pkg="panda_simulation" type="motion_planning_api_tutorial" respawn="false" output="screen">
- <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
- <param name="/planning_plugin" value="ompl_interface/OMPLPlanner"/>
- <rosparam command="load" file="$(find panda_moveit_config)/config/ompl_planning.yaml"/>
- </node>-->
</launch>
diff --git a/src/robot_state_initializer.cpp b/src/robot_state_initializer.cpp
index 1fce35b..4c6626d 100644
--- a/src/robot_state_initializer.cpp
+++ b/src/robot_state_initializer.cpp
@@ -20,7 +20,7 @@ int main(int argc, char **argv) {
ros::Duration(2.0).sleep();
// 1. switch from default joint trajectory controller to custom position controller
- std::string panda_arm_controller{"panda_arm_controller"}, panda_hand_controller{"panda_hand_controller"},
+ std::string panda_arm_controller{"position_joint_trajectory_controller"}, panda_hand_controller{"panda_hand_controller"},
joint_position_controller{"joint_position_controller"};
std::vector<std::string> stop_controllers{panda_arm_controller, panda_hand_controller};
std::vector<std::string> start_controllers{joint_position_controller};
@@ -72,4 +72,4 @@ int main(int argc, char **argv) {
ros::spin();
return 0;
-}
\ No newline at end of file
+}
--
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