diff --git a/config/panda_gripper_moveit_controllers.yaml b/config/panda_gripper_moveit_controllers.yaml new file mode 100644 index 0000000..8a6efb6 --- /dev/null +++ b/config/panda_gripper_moveit_controllers.yaml @@ -0,0 +1,20 @@ +controller_list: + - name: position_joint_trajectory_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - panda_joint1 + - panda_joint2 + - panda_joint3 + - panda_joint4 + - panda_joint5 + - panda_joint6 + - panda_joint7 + - name: franka_gripper + action_ns: gripper_action + type: GripperCommand + default: true + joints: + - panda_finger_joint1 + - panda_finger_joint2 diff --git a/config/panda_moveit_controllers.yaml b/config/panda_moveit_controllers.yaml new file mode 100644 index 0000000..3cd123f --- /dev/null +++ b/config/panda_moveit_controllers.yaml @@ -0,0 +1,13 @@ +controller_list: + - name: position_joint_trajectory_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - panda_joint1 + - panda_joint2 + - panda_joint3 + - panda_joint4 + - panda_joint5 + - panda_joint6 + - panda_joint7 diff --git a/config/ros_controllers.yaml b/config/ros_controllers.yaml index a67b290..6ad2d06 100644 --- a/config/ros_controllers.yaml +++ b/config/ros_controllers.yaml @@ -17,57 +17,4 @@ hardware_interface: - panda_joint6 - panda_joint7 - panda_finger_joint1 - sim_control_mode: 1 # 0: position, 1: velocity -# Publish all joint states -# Creates the /joint_states topic necessary in ROS -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 -controller_list: - [] -position_joint_trajectory_controller: - type: position_controllers/JointTrajectoryController - joints: - - panda_joint1 - - panda_joint2 - - panda_joint3 - - panda_joint4 - - panda_joint5 - - panda_joint6 - - panda_joint7 - gains: - panda_joint1: - p: 100 - d: 1 - i: 1 - i_clamp: 1 - panda_joint2: - p: 100 - d: 1 - i: 1 - i_clamp: 1 - panda_joint3: - p: 100 - d: 1 - i: 1 - i_clamp: 1 - panda_joint4: - p: 100 - d: 1 - i: 1 - i_clamp: 1 - panda_joint5: - p: 100 - d: 1 - i: 1 - i_clamp: 1 - panda_joint6: - p: 100 - d: 1 - i: 1 - i_clamp: 1 - panda_joint7: - p: 100 - d: 1 - i: 1 - i_clamp: 1 \ No newline at end of file + sim_control_mode: 1 # 0: position, 1: velocity \ No newline at end of file diff --git a/launch/demo_gazebo.launch b/launch/demo_gazebo.launch deleted file mode 100644 index caae7cd..0000000 --- a/launch/demo_gazebo.launch +++ /dev/null @@ -1,74 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [move_group/fake_controller_joint_states] - [/joint_states] - - - [move_group/fake_controller_joint_states] - [/joint_states] - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/launch/gazebo.launch b/launch/gazebo.launch deleted file mode 100644 index 16adbad..0000000 --- a/launch/gazebo.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/launch/move_group.launch b/launch/move_group.launch index 18da573..f746839 100644 --- a/launch/move_group.launch +++ b/launch/move_group.launch @@ -76,7 +76,8 @@ - + + diff --git a/launch/panda_control_moveit_rviz.launch b/launch/panda_control_moveit_rviz.launch new file mode 100644 index 0000000..ce41e83 --- /dev/null +++ b/launch/panda_control_moveit_rviz.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/panda_gripper_moveit_controller_manager.launch.xml b/launch/panda_gripper_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..e275653 --- /dev/null +++ b/launch/panda_gripper_moveit_controller_manager.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/launch/panda_moveit.launch b/launch/panda_moveit.launch new file mode 100644 index 0000000..3010bd7 --- /dev/null +++ b/launch/panda_moveit.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/launch/panda_moveit_controller_manager.launch.xml b/launch/panda_moveit_controller_manager.launch.xml index febf584..f1123a7 100644 --- a/launch/panda_moveit_controller_manager.launch.xml +++ b/launch/panda_moveit_controller_manager.launch.xml @@ -9,5 +9,5 @@ - + diff --git a/launch/ros_controllers.launch b/launch/ros_controllers.launch index 85f011b..590c9c9 100644 --- a/launch/ros_controllers.launch +++ b/launch/ros_controllers.launch @@ -6,6 +6,6 @@ + output="screen" args="position_joint_trajectory_controller"/>