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14 files changed

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-134
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‎all.tests

+1
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
cob_script_server script_server.launch

‎cob_2dnav/ros/config/base_local_planner_params.yaml

+5-5
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,11 @@
11
TrajectoryPlannerROS:
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max_vel_x: 0.5
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max_vel_x: 0.4
33
min_vel_x: 0.1
4-
max_rotational_vel: 0.5
4+
max_rotational_vel: 0.4
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min_in_place_rotational_vel: 0.3
66

7-
acc_lim_th: 3.2
8-
acc_lim_x: 2.5
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acc_lim_y: 2.5
7+
acc_lim_th: 0.5
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acc_lim_x: 0.5
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acc_lim_y: 0.5
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1111
holonomic_robot: true

‎cob_2dslam/ros/launch/gmapping.launch

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@@ -0,0 +1,15 @@
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<?xml version="1.0"?>
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<launch>
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<!-- dynamic map generation -->
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<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
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<remap from="scan" to="scan_front"/>
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<param name="maxUrange" type="int" value="8"/>
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<param name="xmin" type="int" value="-8"/>
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<param name="ymin" type="int" value="-8"/>
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<param name="xmax" type="int" value="8"/>
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<param name="ymax" type="int" value="8"/>
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<param name="odom_frame" type="string" value="odom_combined"/>
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</node>
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</launch>

‎cob_arm_navigation/include/cob_arm_navigation/object_handler.h

+9-6
Original file line numberDiff line numberDiff line change
@@ -515,14 +515,17 @@ class Object_Handler
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516516
//ToDo: figure out how *.model-size and *.urdf-extend are related
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//ToDo: figure out where the *.model origin is located (top,center,bottom?)
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519+
//it seems to be correct for the milk_box now
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//is the position of the model origin consistent with the other models?
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collision_object.shapes[0].type = geometric_shapes_msgs::Shape::BOX;
519-
collision_object.shapes[0].dimensions.push_back(dimensions[0]/2.0);
520-
collision_object.shapes[0].dimensions.push_back(dimensions[1]/2.0);
521-
collision_object.shapes[0].dimensions.push_back(dimensions[2]/2.0);
522+
collision_object.shapes[0].dimensions.push_back(dimensions[0]);
523+
collision_object.shapes[0].dimensions.push_back(dimensions[1]);
524+
collision_object.shapes[0].dimensions.push_back(dimensions[2]);
522525

523-
collision_object.poses[0].position.x = state_srv.response.pose.position.x;
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collision_object.poses[0].position.y = state_srv.response.pose.position.y;
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collision_object.poses[0].position.z = state_srv.response.pose.position.z;
526+
collision_object.poses[0].position.x = state_srv.response.pose.position.x;//+(dimensions[0]/2.0);
527+
collision_object.poses[0].position.y = state_srv.response.pose.position.y;//+(dimensions[1]/2.0);
528+
collision_object.poses[0].position.z = state_srv.response.pose.position.z+(dimensions[2]/2.0);
526529
collision_object.poses[0].orientation.x = state_srv.response.pose.orientation.x;
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collision_object.poses[0].orientation.y = state_srv.response.pose.orientation.y;
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collision_object.poses[0].orientation.z = state_srv.response.pose.orientation.z;

‎cob_bringup/ros/launch/cob3-3.launch

+8-4
Original file line numberDiff line numberDiff line change
@@ -9,18 +9,22 @@
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<remap from="/joint_states" to="/joint_states_combined"/>
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</node>
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<!-- start nodelet manager -->
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<node pkg="nodelet" type="nodelet" name="nodelet_manager1" args="manager" output="screen"/>
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<!-- startup hardware -->
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<!-- base -->
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<include file="$(find cob_base)/ros/launch/base.launch" />
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<include file="$(find cob_relayboard)/ros/launch/relayboard.launch" />
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<include file="$(find cob_sick_s300)/ros/launch/front.launch" />
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<include file="$(find cob_sick_s300)/ros/launch/rear.launch" />
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<!--include file="$(find cob_hokuyo)/ros/launch/hokuyo.launch" /-->
19-
22+
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<!-- upper robot -->
21-
<!--include file="$(find cob_tray)/ros/launch/tray.launch" /-->
22-
<!--include file="$(find cob_torso)/ros/launch/torso.launch" /-->
23-
<!--include file="$(find cob_sdh)/ros/launch/sdh.launch" /-->
24+
<include file="$(find cob_lbr)/launch/lbr.launch" />
25+
<include file="$(find cob_tray)/ros/launch/tray.launch" />
26+
<include file="$(find cob_torso)/ros/launch/torso.launch" />
27+
<include file="$(find cob_sdh)/ros/launch/sdh.launch" />
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<!--include file="$(find cob_head_axis)/ros/launch/head_axis.launch" /-->
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‎cob_bringup/ros/launch/sim.launch

+3-4
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@@ -1,23 +1,22 @@
11
<?xml version="1.0"?>
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<launch>
33

4-
54
<include file="$(find cob_machine)/cob3-sim.machine" />
65

76
<!-- startup simulation -->
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<include file="$(find cob_gazebo_worlds)/ros/launch/$(env ROBOT_ENV).launch" />
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<include file="$(find cob_gazebo)/ros/launch/robot.launch" />
109

11-
<rosparam command="load" ns="arm_controller" file="$(find cob_arm)/ros/launch/$(env ROBOT).yaml"/>
12-
<include file="$(find cob_base)/ros/launch/sim.launch" />
13-
10+
<!--include file="$(find cob_base)/ros/launch/sim.launch" /-->
11+
1412
<!-- start nodelet manager -->
1513
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen"/>
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1715
<!-- start ik_solver for arm -->
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<node pkg="cob_manipulator" type="cob_ik_solver_kdl" name="cob_ik_solver" ns="arm_controller" cwd="node" respawn="false" output="screen"/>
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2018
<!-- start cartesian interface -->
19+
<rosparam command="load" ns="arm_controller" file="$(find cob_arm)/ros/launch/$(env ROBOT).yaml"/>
2120
<node pkg="cob_manipulator" type="move_cart.py" name="move_cart" ns="arm_controller" cwd="node" respawn="false" output="screen"/>
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<!-- provides get_fk, get_ik_solver_info WITH limits -->

‎cob_dashboard/ros/launch/dashboard.launch

-1
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@@ -16,5 +16,4 @@
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<!-- include rostest -->
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<include file="$(find cob_script_server)/launch/script_server.test" />
1818

19-
2019
</launch>

‎cob_generic_states/manifest.xml

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@@ -13,5 +13,6 @@
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<depend package="smach"/>
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<depend package="smach_ros"/>
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<depend package="cob_script_server"/>
16+
<depend package="actionlib_msgs"/>
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</package>

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