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set commanded_position from JointState msg #2

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set commanded_position from JointState msg #2

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fa7d34d
add arg grav_[right|left]_name and [r|l]_tip_name
knorth55 Oct 11, 2016
80d47cc
do not load gripper description when arg is false
knorth55 Oct 11, 2016
71dd6df
set commanded_position from JointState msg
k-okada Jul 31, 2017
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2 changes: 1 addition & 1 deletion baxter_gazebo/launch/baxter_world.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@
to launching baxter_world -->
<arg name="load_robot_description" default="true"/>
<param if="$(arg load_robot_description)" name="robot_description"
command="$(find xacro)/xacro.py --inorder $(find baxter_description)/urdf/baxter.urdf.xacro gazebo:=true"/>
command="$(find xacro)/xacro.py --inorder $(find baxter_description)/urdf/baxter.urdf.xacro gazebo:=true right_electric_gripper:=$(arg right_electric_gripper) left_electric_gripper:=$(arg left_electric_gripper)"/>

<!-- We resume the logic in empty_world.launch, changing the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
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16 changes: 15 additions & 1 deletion baxter_sim_hardware/launch/baxter_sdk_control.launch
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Expand Up @@ -3,9 +3,23 @@

<arg name="left_electric_gripper" default="true"/>
<arg name="right_electric_gripper" default="true"/>
<arg name="grav_right_name" default="right_gripper" if="$(arg right_electric_gripper)" />
<arg name="grav_left_name" default="left_gripper" if="$(arg left_electric_gripper)" />
<arg name="right_tip_name" default="right_gripper" if="$(arg right_electric_gripper)" />
<arg name="left_tip_name" default="left_gripper" if="$(arg left_electric_gripper)" />
<arg name="grav_right_name" default="right_wrist" unless="$(arg right_electric_gripper)" />
<arg name="grav_left_name" default="left_wrist" unless="$(arg left_electric_gripper)" />
<arg name="right_tip_name" default="right_wrist" unless="$(arg right_electric_gripper)" />
<arg name="left_tip_name" default="left_wrist" unless="$(arg left_electric_gripper)" />


<!-- baxter_sim_kinematics launch file to do the Forward/Inverse Kinematics -->
<include file="$(find baxter_sim_kinematics)/launch/baxter_sim_kinematics.launch" />
<include file="$(find baxter_sim_kinematics)/launch/baxter_sim_kinematics.launch">
<arg name="grav_right_name" value="$(arg grav_right_name)" />
<arg name="grav_left_name" value="$(arg grav_left_name)" />
<arg name="right_tip_name" value="$(arg right_tip_name)" />
<arg name="left_tip_name" value="$(arg left_tip_name)" />
</include>

<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find baxter_sim_hardware)/config/baxter_sim_controllers.yaml" command="load"/>
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12 changes: 12 additions & 0 deletions baxter_sim_hardware/src/baxter_emulator.cpp
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Expand Up @@ -502,6 +502,12 @@ void baxter_emulator::reset_head_nod(const ros::TimerEvent &t) {
void baxter_emulator::update_jnt_st(const sensor_msgs::JointState &msg) {
jstate_msg = msg;
float threshold = 0.0009;
left_gravity.commanded_position.resize(left_gravity.name.size());
left_gravity.commanded_velocity.resize(left_gravity.name.size());
left_gravity.commanded_effort.resize(left_gravity.name.size());
right_gravity.commanded_position.resize(left_gravity.name.size());
right_gravity.commanded_velocity.resize(left_gravity.name.size());
right_gravity.commanded_effort.resize(left_gravity.name.size());
left_gravity.actual_position.resize(left_gravity.name.size());
left_gravity.actual_velocity.resize(left_gravity.name.size());
left_gravity.actual_effort.resize(left_gravity.name.size());
Expand All @@ -525,12 +531,18 @@ right_gravity.actual_effort.resize(left_gravity.name.size());
else {
for (int j=0;j<left_gravity.name.size();j++) {
if (msg.name[i] == left_gravity.name[j]) {
left_gravity.commanded_position[j] = msg.position[i];
left_gravity.commanded_velocity[j] = msg.velocity[i];
left_gravity.commanded_effort[j] = msg.effort[i];
left_gravity.actual_position[j] = msg.position[i];
left_gravity.actual_velocity[j] = msg.velocity[i];
left_gravity.actual_effort[j] = msg.effort[i];
break;
}
else if(msg.name[i] == right_gravity.name[j]) {
right_gravity.commanded_position[j] = msg.position[i];
right_gravity.commanded_velocity[j] = msg.velocity[i];
right_gravity.commanded_effort[j] = msg.effort[i];
right_gravity.actual_position[j] = msg.position[i];
right_gravity.actual_velocity[j] = msg.velocity[i];
right_gravity.actual_effort[j] = msg.effort[i];
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12 changes: 8 additions & 4 deletions baxter_sim_kinematics/launch/baxter_sim_kinematics.launch
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Expand Up @@ -5,6 +5,10 @@
<arg name="load_robot_description" default="false"/>
<arg name="right_electric_gripper" default="false"/>
<arg name="left_electric_gripper" default="false"/>
<arg name="grav_right_name" default="right_gripper" />
<arg name="grav_left_name" default="left_gripper" />
<arg name="right_tip_name" default="right_gripper" />
<arg name="left_tip_name" default="left_gripper" />

<!-- Load universal robotic description format (URDF) -->
<param if="$(arg load_robot_description)" name="robot_description"
Expand All @@ -13,11 +17,11 @@
left_electric_gripper:=$(arg left_electric_gripper)"/>

<param name="root_name" value="base" />
<param name="grav_right_name" value="right_gripper" />
<param name="grav_left_name" value="left_gripper" />
<param name="grav_right_name" value="$(arg grav_right_name)" />
<param name="grav_left_name" value="$(arg grav_left_name)" />
<!-- load left and right tip name -->
<param name="right_tip_name" value="right_gripper" />
<param name="left_tip_name" value="left_gripper" />
<param name="right_tip_name" value="$(arg right_tip_name)" />
<param name="left_tip_name" value="$(arg left_tip_name)" />
<!-- load left and right joint names -->
<rosparam param="robot_config/right_config/joint_names">
[right_s0, right_s1, right_e0, right_e1, right_w0, right_w1, right_w2]
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