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Fixing errors in the "Perception Driven Manipulation" ROS2 demo. #418

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Fixing errors in the "Perception Driven Manipulation" ROS2 demo. #418

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fe81eb4
fixed joint_state_broadcaster for the Perception template demo, added…
Jul 21, 2024
b88a34c
cleaning up before PR
Jul 21, 2024
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1 change: 1 addition & 0 deletions ..._Manipulation/ros2/solution_ws/src/robot_workcell_support/urdf/workspace_components.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -151,5 +151,6 @@
<xacro:workcell_element name="cover_part2" parent="world_frame"
length="0.121" width="0.260" height="0.14" offset_x="-0.012" offset_y="-0.465"/>
</xacro:macro>

<!-- end of workcell part2 components macro -->
</robot>
1 change: 1 addition & 0 deletions ...en_Manipulation/ros2/solution_ws/src/ur5_workcell_moveit2_config/config/ur5_workcell.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -208,6 +208,7 @@
<disable_collisions link1="shoulder_link" link2="table_base2" reason="Never" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="shoulder_link" link2="ur5_stand" reason="Never" />
<disable_collisions link1="shoulder_link" link2="base_link_inertia" reason="Never" />
<disable_collisions link1="table_base2" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="table_base2" link2="ur5_stand" reason="Adjacent" />
<disable_collisions link1="tcp_frame" link2="wrist_1_link" reason="Never" />
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26 changes: 2 additions & 24 deletions ...Manipulation/ros2/template_ws/src/ur5_workcell_moveit2_config/config/ros_controllers.yaml
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Original file line number Diff line number Diff line change
@@ -1,32 +1,10 @@
#controller_manager:
# update_rate: 100 # Hz
# controller_list:
# - name: manipulator_joint_trajectory_controller
# type: joint_trajectory_controller/JointTrajectoryController
# - name: joint_state_broadcaster
# type: joint_state_broadcaster/JointStateController
#
#manipulator_joint_trajectory_controller:
# command_interfaces:
# - position
# state_interfaces:
# - position
# - velocity
# joints:
# - elbow_joint
# - shoulder_lift_joint
# - shoulder_pan_joint
# - wrist_1_joint
# - wrist_2_joint
# - wrist_3_joint
#
controller_manager:
ros__parameters:
update_rate: 600 # Hz
manipulator_joint_trajectory_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateController
type: joint_state_broadcaster/JointStateBroadcaster
io_and_status_controller:
type: ur_controllers/GPIOController

Expand All @@ -53,5 +31,5 @@ manipulator_joint_trajectory_controller:
goal_time: 0.0
joint_state_broadcaster:
ros__parameters:
type: joint_state_broadcaster/JointStateController
type: joint_state_broadcaster/JointStateBroadcaster

1 change: 1 addition & 0 deletions ...en_Manipulation/ros2/template_ws/src/ur5_workcell_moveit2_config/config/ur5_workcell.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -208,6 +208,7 @@
<disable_collisions link1="shoulder_link" link2="table_base2" reason="Never" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="shoulder_link" link2="ur5_stand" reason="Never" />
<disable_collisions link1="shoulder_link" link2="base_link_inertia" reason="Never" />
<disable_collisions link1="table_base2" link2="upper_arm_link" reason="Never" />
<disable_collisions link1="table_base2" link2="ur5_stand" reason="Adjacent" />
<disable_collisions link1="tcp_frame" link2="wrist_1_link" reason="Never" />
Expand Down