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bug fixes + intermediate tests + code cleanup
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,52 +1,47 @@ | ||
| <launch> | ||
| <!-- Gen3 specific arguments required by Kortex API for instantiating a private communication session --> | ||
| <arg name="ip_address" default="192.168.1.10" doc="IP address for TCP/UDP comms"/> | ||
| <arg name="username" default="admin" doc="Username for kortex session"/> | ||
| <arg name="password" default="admin" doc="Password for kortex session"/> | ||
| <arg name="api_session_inactivity_timeout_ms" default="35000"/> <!--milliseconds--> | ||
| <arg name="api_connection_inactivity_timeout_ms" default="20000"/> <!--milliseconds--> | ||
| <arg name="dof" default="6"/> <!--degrees of freedom--> | ||
|
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| <!-- Gen3 Hardware Node --> | ||
| <node name="controller" pkg="bite_acquisition" type="controller" output="screen"> | ||
| <param name="ip_address" value="$(arg ip_address)"/> | ||
| <param name="username" value="$(arg username)"/> | ||
| <param name="password" value="$(arg password)"/> | ||
| <param name="api_session_inactivity_timeout_ms" value="$(arg api_session_inactivity_timeout_ms)"/> | ||
| <param name="api_connection_inactivity_timeout_ms" value="$(arg api_connection_inactivity_timeout_ms)"/> | ||
| </node> | ||
|
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| <param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/gen3_robotiq_2f_85.xacro dof:=$(arg dof) sim:=false vision:=true feeding_utensil:=true" /> | ||
|
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| <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> | ||
| <param name="use_gui" value="false"/> | ||
| <rosparam param="source_list">["robot_joint_states", "wrist_joint_states"]</rosparam> | ||
| <param name="rate" value="100"/> | ||
| </node> | ||
|
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||
| <!-- TF Setup --> | ||
| <node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub"> | ||
| <param name="ignore_timestamp" value="true" /> | ||
| </node> | ||
|
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||
| <node name="st_map2world" pkg="tf" type="static_transform_publisher" respawn="false" output="screen" args="0 0 0 0 0 0 1 map world 10"/> | ||
|
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| <!-- <include file="$(find realsense2_camera)/launch/rs_rgbd.launch"/> --> | ||
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| <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="camera_link_broadcaster" | ||
| args="0.026 0.063 0.031 0.5 0.5 0.5 -0.5 end_effector_link camera_link" /> BEST VALUES WITH 0.5 ROTATIONS --> | ||
|
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| <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="camera_link_broadcaster" | ||
| args="0.013 0.07 0.024 0.5 0.5 0.5 -0.5 end_effector_link camera_link" /> --> | ||
|
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||
| <!-- green blue red --> | ||
| <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="camera_link_broadcaster" | ||
| args="0.017 0.06 0.033 0.50080661 0.49902445 0.50068027 -0.49948635 end_effector_link camera_link" /> --> | ||
|
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| <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="camera_link_broadcaster" | ||
| args="0.01823 0.06065 0.0285 0.5 0.5 0.5 -0.5 end_effector_link camera_link" /> --> | ||
|
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| <node pkg="tf2_ros" type="static_transform_publisher" name="camera_link_broadcaster" | ||
| args="0.01 0.0615 0.03 0.5 0.5 0.5 -0.5 end_effector_link camera_link" /> | ||
| <!-- Gen3 specific arguments required by Kortex API for instantiating a private communication session --> | ||
| <arg name="ip_address" default="192.168.1.10" doc="IP address for TCP/UDP comms"/> | ||
| <arg name="username" default="admin" doc="Username for kortex session"/> | ||
| <arg name="password" default="admin" doc="Password for kortex session"/> | ||
| <arg name="api_session_inactivity_timeout_ms" default="35000"/> <!--milliseconds--> | ||
| <arg name="api_connection_inactivity_timeout_ms" default="20000"/> <!--milliseconds--> | ||
| <arg name="dof" default="7"/> <!--degrees of freedom--> | ||
| <arg name="plate_height" default="-0.005"/> | ||
| <arg name="max_food_height" default="0.1"/> | ||
|
|
||
| <param name="robot_type" value="$(eval 'kinova_6dof' if int(arg('dof')) == 6 else 'kinova_7dof')"/> | ||
| <param name="plate_height" value="$(arg plate_height)"/> | ||
| <param name="max_food_height" value="$(arg max_food_height)"/> | ||
|
|
||
| <!-- Gen3 Hardware Node --> | ||
| <node name="controller" pkg="bite_acquisition" type="controller" output="screen"> | ||
| <param name="ip_address" value="$(arg ip_address)"/> | ||
| <param name="username" value="$(arg username)"/> | ||
| <param name="password" value="$(arg password)"/> | ||
| <param name="api_session_inactivity_timeout_ms" value="$(arg api_session_inactivity_timeout_ms)"/> | ||
| <param name="api_connection_inactivity_timeout_ms" value="$(arg api_connection_inactivity_timeout_ms)"/> | ||
| </node> | ||
|
|
||
| <param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/gen3_robotiq_2f_85.xacro dof:=$(arg dof) sim:=false vision:=true feeding_utensil:=true" /> | ||
|
|
||
| <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> | ||
| <param name="use_gui" value="false"/> | ||
| <rosparam param="source_list">["robot_joint_states", "wrist_joint_states"]</rosparam> | ||
| <param name="rate" value="100"/> | ||
| </node> | ||
|
|
||
| <!-- TF Setup --> | ||
| <node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub"> | ||
| <param name="ignore_timestamp" value="true" /> | ||
| </node> | ||
|
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||
| <node name="st_map2world" pkg="tf" type="static_transform_publisher" respawn="false" output="screen" args="0 0 0 0 0 0 1 map world 10"/> | ||
|
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| <include file="$(find realsense2_camera)/launch/rs_rgbd.launch"/> | ||
|
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| <node pkg="tf2_ros" type="static_transform_publisher" name="camera_link_broadcaster" | ||
| args="0.01 0.0615 0.03 0.5 0.5 0.5 -0.5 end_effector_link camera_link" /> | ||
|
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| <node type="rviz" name="rviz" pkg="rviz" args="-d $(find bite_acquisition)/scripts/configs/default.rviz" required="true" output="screen"/> | ||
|
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| </launch> |
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