From 5b75ad9ee9973dd15f9038af56d6e2fd22a3697c Mon Sep 17 00:00:00 2001 From: David Yackzan Date: Tue, 1 Oct 2024 09:25:06 -0600 Subject: [PATCH] Update UR hardware configs (#377) * Add required parameter in realsense launch file * Remove deprecated controllers and add base objectives so teleop works on hw config --- .../launch/pro_rs_launch.py | 11 +- src/picknik_ur_site_config/config/config.yaml | 2 - .../control/picknik_ur.ros2_control.yaml | 136 ------------------ 3 files changed, 10 insertions(+), 139 deletions(-) diff --git a/src/picknik_ur_base_config/launch/pro_rs_launch.py b/src/picknik_ur_base_config/launch/pro_rs_launch.py index 685f5bde..7aaec2b2 100644 --- a/src/picknik_ur_base_config/launch/pro_rs_launch.py +++ b/src/picknik_ur_base_config/launch/pro_rs_launch.py @@ -56,5 +56,14 @@ def generate_launch_description(): ) return LaunchDescription( rs_launch.declare_configurable_parameters(rs_launch.configurable_parameters) - + [OpaqueFunction(function=rs_launch.launch_setup)] + + [ + OpaqueFunction( + function=rs_launch.launch_setup, + kwargs={ + "params": rs_launch.set_configurable_parameters( + rs_launch.configurable_parameters + ) + }, + ) + ] ) diff --git a/src/picknik_ur_site_config/config/config.yaml b/src/picknik_ur_site_config/config/config.yaml index 575b8836..b722faeb 100644 --- a/src/picknik_ur_site_config/config/config.yaml +++ b/src/picknik_ur_site_config/config/config.yaml @@ -32,8 +32,6 @@ ros2_control: # [Optional, default=[]] controllers_inactive_at_startup: - "joint_trajectory_controller" - - "admittance_controller_open_door" - - "joint_trajectory_controller_chained_open_door" - "joint_trajectory_admittance_controller" - "velocity_force_controller" # Any controllers here will not be spawned by MoveIt Pro. diff --git a/src/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml b/src/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml index 138f849a..17851768 100644 --- a/src/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml +++ b/src/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml @@ -15,10 +15,6 @@ controller_manager: type: robotiq_controllers/RobotiqActivationController servo_controller: type: joint_trajectory_controller/JointTrajectoryController - admittance_controller_open_door: - type: admittance_controller/AdmittanceController - joint_trajectory_controller_chained_open_door: - type: joint_trajectory_controller/JointTrajectoryController joint_trajectory_admittance_controller: type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController velocity_force_controller: @@ -81,47 +77,6 @@ joint_trajectory_controller: wrist_3_joint: goal: 0.05 -joint_trajectory_controller_chained_open_door: - ros__parameters: - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - command_interfaces: - - position - - velocity - state_interfaces: - - position - - velocity - command_joints: - - admittance_controller_open_door/shoulder_pan_joint - - admittance_controller_open_door/shoulder_lift_joint - - admittance_controller_open_door/elbow_joint - - admittance_controller_open_door/wrist_1_joint - - admittance_controller_open_door/wrist_2_joint - - admittance_controller_open_door/wrist_3_joint - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.0 - goal_time: 0.0 - shoulder_pan_joint: - goal: 0.25 - shoulder_lift_joint: - goal: 0.25 - elbow_joint: - goal: 0.25 - wrist_1_joint: - goal: 0.25 - wrist_2_joint: - goal: 0.25 - wrist_3_joint: - goal: 0.25 - servo_controller: ros__parameters: joints: @@ -172,97 +127,6 @@ robotiq_activation_controller: ros__parameters: default: true -admittance_controller_open_door: - ros__parameters: - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - - command_interfaces: - - position - - state_interfaces: - - position - - velocity - - chainable_command_interfaces: - - position - - velocity - - kinematics: - plugin_name: kinematics_interface_kdl/KinematicsInterfaceKDL - plugin_package: kinematics_interface - base: base_link # Assumed to be stationary - tip: grasp_link # The end effector frame - alpha: 0.05 - - ft_sensor: - name: tcp_fts_sensor - frame: - id: wrist_3_link # Wrench measurements are in this frame - filter_coefficient: 0.1 - - control: - frame: - id: grasp_link # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector - - fixed_world_frame: - frame: # Gravity points down (neg. Z) in this frame (Usually: world or base_link) - id: base_link # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector - - gravity_compensation: - frame: - id: wrist_3_link - - CoG: # specifies the center of gravity of the end effector - pos: - - 0.1 # x - - 0.0 # y - - 0.0 # z - force: 0.0 # mass * 9.81 - - admittance: - selected_axes: - - true # x - - true # y - - true # z - - true # rx - - true # ry - - true # rz - - # Having ".0" at the end is MUST, otherwise there is a loading error - # F = M*a + D*v + S*(x - x_d) - mass: - - 10.0 # x - - 10.0 # y - - 10.0 # z - - 5.0 # rx - - 5.0 # ry - - 5.0 # rz - - damping_ratio: # damping can be used instead: zeta = D / (2 * sqrt( M * S )) - - 5.0 # x - - 5.0 # y - - 5.0 # z - - 5.0 # rx - - 5.0 # ry - - 5.0 # rz - - stiffness: - - 500.0 # x - - 500.0 # y - - 500.0 # z - - 100.0 # rx - - 100.0 # ry - - 100.0 # rz - - # general settings - enable_parameter_update_without_reactivation: true - joint_trajectory_admittance_controller: ros__parameters: joints: