Lowering the limit of joint 2

NiryoRobotics · Nov 30, 2020 · e8a218c · e8a218c
1 parent 4b1862e
commit e8a218c
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Showing 22 changed files with 38 additions and 28 deletions.
diff --git a/niryo_one/package.xml b/niryo_one/package.xml
@@ -1,6 +1,6 @@
 <package>
     <name>niryo_one</name>
-    <version>2.3.2</version>
+    <version>2.3.3</version>
     <description>Niryo One metapackage</description>
     <author>Edouard Renard</author>
     <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

diff --git a/niryo_one_bringup/package.xml b/niryo_one_bringup/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>niryo_one_bringup</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>Provides roslaunch scripts to start Niryo One packages and ros params</description>
   <author>Edouard Renard</author>
     <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

diff --git a/niryo_one_camera/package.xml b/niryo_one_camera/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>niryo_one_camera</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>Niryo vision package</description>
   <author>Rémi Lux</author>
   <author>Andreas Voigt</author>

diff --git a/niryo_one_commander/package.xml b/niryo_one_commander/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>niryo_one_commander</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>Interface between user and Moveit! to easily control Niryo One (arm + tools). Validates params, checks if previous trajectory has not finished, ...</description>
   <author>Edouard Renard</author>
   <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

diff --git a/niryo_one_debug/package.xml b/niryo_one_debug/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_debug</name>
-    <version>2.3.2</version>
+    <version>2.3.3</version>
     <description>Niryo One debug tools</description>
     <author>Edouard Renard</author>
     <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>

diff --git a/niryo_one_description/package.xml b/niryo_one_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>niryo_one_description</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>Provides URDF files for Moveit! and IKfast plugin</description>
   <author>Edouard Renard</author>
   <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

diff --git a/niryo_one_description/urdf/v2/niryo_one.urdf.xacro b/niryo_one_description/urdf/v2/niryo_one.urdf.xacro
@@ -38,7 +38,7 @@
 
     <xacro:property name="limit_low_shoulder_rotation" value="-3.05433" />
     <xacro:property name="limit_up_shoulder_rotation" value="3.05433" />
-    <xacro:property name="limit_low_arm_rotation" value="-1.91986" />
+    <xacro:property name="limit_low_arm_rotation" value="-1.57080" />
     <xacro:property name="limit_up_arm_rotation" value="0.640187" />
     <xacro:property name="limit_low_elbow_rotation" value="-1.397485" />
     <xacro:property name="limit_up_elbow_rotation" value="${PI/2}" />

diff --git a/niryo_one_description/urdf/v2/without_mesh_niryo_one.urdf.xacro b/niryo_one_description/urdf/v2/without_mesh_niryo_one.urdf.xacro
@@ -38,7 +38,7 @@
 
     <xacro:property name="limit_low_shoulder_rotation" value="-3.05433" />
     <xacro:property name="limit_up_shoulder_rotation" value="3.05433" />
-    <xacro:property name="limit_low_arm_rotation" value="-1.91986" />
+    <xacro:property name="limit_low_arm_rotation" value="-1.57080" />
     <xacro:property name="limit_up_arm_rotation" value="0.640187" />
     <xacro:property name="limit_low_elbow_rotation" value="-1.397485" />
     <xacro:property name="limit_up_elbow_rotation" value="${PI/2}" />

diff --git a/niryo_one_driver/include/niryo_one_driver/test_motors.h b/niryo_one_driver/include/niryo_one_driver/test_motors.h
@@ -39,7 +39,7 @@ class NiryoOneTestMotor {
 
         TrajClient* traj_client_;
 
-        std::vector<double> pose_start{0.0, 0.0, 0.3, 0.0, 0.0, 0.0};
+        std::vector<double> pose_start{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
 
         bool enable_test;
         int _n_joints = 6;

diff --git a/niryo_one_driver/package.xml b/niryo_one_driver/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_driver</name>
-    <version>2.3.2</version>
+    <version>2.3.3</version>
     <description>Niryo One driver. Provides a hardware interface between ros_control and RPI3 hardware. Also provides
         user interface to directly interact with hardware
     </description>

diff --git a/niryo_one_driver/src/ros_interface.cpp b/niryo_one_driver/src/ros_interface.cpp
@@ -80,10 +80,20 @@ bool RosInterface::callbackTestMotors(niryo_one_msgs::SetInt::Request &req, niry
     learning_mode_on = true;
     comm->activateLearningMode(learning_mode_on);
 
-    motor_test_status = status ? 0 : -1; 
-    res.status = status ? 200 : 400; 
-    res.message = status ? "Success" : "Fail";
-
+    if (status)
+    {
+        motor_test_status = 0;
+        res.status = 200;
+        res.message = "Success";
+        ROS_INFO("Motor debug has ended with success");
+    }
+    else
+    {
+        motor_test_status = -1;
+        res.status = 400;
+        res.message = "Fail";
+        ROS_ERROR("Motor debug has ended with failure");
+    }
     return true;
 }
 

diff --git a/niryo_one_driver/src/test_motors.cpp b/niryo_one_driver/src/test_motors.cpp
@@ -112,8 +112,8 @@ bool NiryoOneTestMotor::getJointsLimits()
         {
             if (urdf_joint->type != urdf::Joint::CONTINUOUS)
             {
-                _joint_upper_limits[i] = urdf_joint->limits->upper;
-                _joint_lower_limits[i] = urdf_joint->limits->lower;
+                _joint_upper_limits[i] = urdf_joint->limits->upper - 0.2;
+                _joint_lower_limits[i] = urdf_joint->limits->lower + 0.2;
                 _joint_has_position_limits[i] = true;
             }
             else

diff --git a/niryo_one_modbus/package.xml b/niryo_one_modbus/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_modbus</name>
-    <version>2.3.2</version>
+    <version>2.3.3</version>
     <description>Niryo One Modbus Server</description>
     <author>Edouard Renard</author>
     <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>

diff --git a/niryo_one_moveit_config/package.xml b/niryo_one_moveit_config/package.xml
@@ -1,7 +1,7 @@
 <package>
 
     <name>niryo_one_moveit_config</name>
-    <version>2.3.2</version>
+    <version>2.3.3</version>
     <description>
         An automatically generated package with all the configuration and launch files for using the niryo_one with the
         MoveIt! Motion Planning Framework

diff --git a/niryo_one_msgs/package.xml b/niryo_one_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_msgs</name>
-    <version>2.3.2</version>
+    <version>2.3.3</version>
     <description>Niryo One ROS messages used in other Niryo One packages</description>
     <author>Edouard Renard</author>
     <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

diff --git a/niryo_one_pose_converter/package.xml b/niryo_one_pose_converter/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_pose_converter</name>
-    <version>2.3.2</version>
+    <version>2.3.3</version>
     <description>Handles the convertion of workspace-relative poses to robot poses</description>
     <author email="a.voigt@niryo.com">Andreas Voigt</author>
     <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

diff --git a/niryo_one_python_api/package.xml b/niryo_one_python_api/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_python_api</name>
-    <version>2.3.2</version>
+    <version>2.3.3</version>
     <description>Python API to get Niryo One ROS functionalities, without knowing ROS</description>
     <author>Edouard Renard</author>
     <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

diff --git a/niryo_one_rpi/package.xml b/niryo_one_rpi/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_rpi</name>
-    <version>2.3.2</version>
+    <version>2.3.3</version>
     <description>Specific utilities for Niryo One's RPI3 + custom Niryo One shield</description>
     <author>Edouard Renard</author>
     <author>Maxime Catrice</author>

diff --git a/niryo_one_tcp_server/package.xml b/niryo_one_tcp_server/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>niryo_one_tcp_server</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>Niryo One TCP Server</description>
   <author>Corentin Ducatez</author>
   <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>

diff --git a/niryo_one_tools/package.xml b/niryo_one_tools/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
     <name>niryo_one_tools</name>
-    <version>2.3.2</version>
+    <version>2.3.3</version>
     <description>Provides functionalities to control end-effectors and accessories for Niryo One</description>
     <author>Edouard Renard</author>
     <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>

diff --git a/niryo_one_user_interface/blockly_code_generator/package-lock.json b/niryo_one_user_interface/blockly_code_generator/package-lock.json
diff --git a/niryo_one_user_interface/package.xml b/niryo_one_user_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>niryo_one_user_interface</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>Handles high level commands from user (joystik, sequences, blockly), and calls appropriates Niryo One utilities</description>
   <author>Edouard Renard</author>
   <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>