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Feature/cartesian motion #2

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Feature/cartesian motion #2

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5a8abcc
Adds waitfortransfoorm to ur driver
sepjansen Mar 31, 2015
f9ec4c8
fix stamp reference
sepjansen Mar 31, 2015
e03c11a
fix stamp reference
sepjansen Mar 31, 2015
f9e5db2
Merge pull request #1 from abubeck/feature/cartesian_motion
sepjansen Mar 31, 2015
704fd37
Adds ur_base_link to ur10 urdf
May 13, 2015
cbc5e80
Max acceleration to 0.8 from 1.2
May 17, 2015
dd73235
Merge branch 'feature/cartesian_motion' of https://github.com/sepjans…
May 17, 2015
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11 changes: 9 additions & 2 deletions ur_description/urdf/ur10.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -83,11 +83,18 @@
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>

<link name="${prefix}ur_base_link"/>
<joint name="${prefix}ur_base_joint" type="fixed">
<parent link="${prefix}base_link" />
<child link = "${prefix}ur_base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -${pi}" />
</joint>

<joint name="${prefix}shoulder_pan_joint" type="revolute">
<parent link="${prefix}base_link" />
<parent link="${prefix}ur_base_link" />
<child link = "${prefix}shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 ${pi}" />
<axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
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2 changes: 1 addition & 1 deletion ur_driver/prog
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Expand Up @@ -229,7 +229,7 @@ def driverProg():
#goal = [0.495, 0.22998, 0.15264, -0.3717, 0.72, -2.57]
goal = p[params_movel[2] / MULT_jointstate, params_movel[3] / MULT_jointstate, params_movel[4] / MULT_jointstate, params_movel[5] / MULT_jointstate, params_movel[6] / MULT_jointstate, params_movel[7] / MULT_jointstate]
send_out(goal)
movel(goal, a=1.2, v=movel_vel, t=0, r=0)
movel(goal, a=0.8, v=movel_vel, t=0, r=0)
send_out("Finished MOVEL")
send_waypoint_finished(424)
else:
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2 changes: 2 additions & 0 deletions ur_driver/src/ur_driver/driver.py
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Expand Up @@ -699,6 +699,8 @@ def execute_cb(self, goal_handle):
ps.header = copy.deepcopy(goal_handle.header)
ps.header.stamp = rospy.Time(0)
ps.pose = copy.deepcopy(pose)

self.tfl.waitForTransform("/ur_base_link", ps.header.frame_id, ps.header.stamp, rospy.Duration(4.0))
ps_ur_bl = self.tfl.transformPose("ur_base_link", ps)
p_ur_bl = ps_ur_bl.pose
#print p_ur_bl
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