cob_apps

Author: ipa-buildbot

cob_bringup/ros/launch/sim.launch

@@ -8,6 +8,7 @@
 	<include file="$(find cob_gazebo_worlds)/ros/launch/$(env ROBOT_ENV).launch" />
 	<include file="$(find cob_gazebo)/ros/launch/robot.launch" />
 
+	<rosparam command="load" ns="arm_controller" file="$(find cob_arm)/ros/launch/$(env ROBOT).yaml"/>
 	<include file="$(find cob_base)/ros/launch/sim.launch" />
 
 	<!-- start nodelet manager -->
@@ -17,7 +18,6 @@
 	<node pkg="cob_manipulator" type="cob_ik_solver_kdl" name="cob_ik_solver" ns="arm_controller" cwd="node" respawn="false" output="screen"/> 
 
 	<!-- start cartesian interface -->
-	<rosparam command="load" ns="arm_controller" file="$(find cob_arm)/ros/launch/$(env ROBOT).yaml"/>
 	<node pkg="cob_manipulator" type="move_cart.py" name="move_cart" ns="arm_controller" cwd="node" respawn="false" output="screen"/>
 
 	<!-- provides get_fk, get_ik_solver_info WITH limits -->

cob_script_server/src/simple_script_server.py

@@ -712,8 +712,7 @@ def move_cart_rel(self, component_name, parameter_name=[[0.0, 0.0, 0.0],[0.0, 0.
 		# convert to Pose message
 		pose = PoseStamped()
 		pose.header.stamp = rospy.Time.now()
-		pose.header.frame_id = "/arm_6_link"
-		#pose.header.frame_id = "/sdh_palm_link"
+		pose.header.frame_id = "/arm_7_link"
 		pose.pose.position.x = param[0][0]
 		pose.pose.position.y = param[0][1]
 		pose.pose.position.z = param[0][2]

cob_teleop/ros/launch/cob3-1.yaml

@@ -24,6 +24,6 @@ arm: {
 }
 
 sdh: {
-  joint_names: ['sdh_finger_11_joint', 'sdh_finger_12_joint', 'sdh_finger_13_joint', 'sdh_finger_21_joint', 'sdh_finger_22_joint', 'sdh_finger_23_joint', 'sdh_thumb_2_joint', 'sdh_thumb_3_joint'],
-  joint_step: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
+  joint_names: ['sdh_knuckle_joint', 'sdh_finger_12_joint', 'sdh_finger_13_joint', 'sdh_finger_22_joint', 'sdh_finger_23_joint', 'sdh_thumb_2_joint', 'sdh_thumb_3_joint'],
+  joint_step: [0.0,0.0,0.0,0.0,0.0,0.0,0.0]
 }

cob_teleop/ros/launch/cob3-2.yaml

@@ -24,6 +24,6 @@ arm: {
 }
 
 sdh: {
-  joint_names: ['sdh_finger_11_joint', 'sdh_finger_12_joint', 'sdh_finger_13_joint', 'sdh_finger_21_joint', 'sdh_finger_22_joint', 'sdh_finger_23_joint', 'sdh_thumb_2_joint', 'sdh_thumb_3_joint'],
-  joint_step: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
+  joint_names: ['sdh_knuckle_joint', 'sdh_finger_12_joint', 'sdh_finger_13_joint', 'sdh_finger_22_joint', 'sdh_finger_23_joint', 'sdh_thumb_2_joint', 'sdh_thumb_3_joint'],
+  joint_step: [0.0,0.0,0.0,0.0,0.0,0.0,0.0]
 }

cob_teleop/ros/launch/cob3-3.yaml

@@ -24,6 +24,6 @@ arm: {
 }
 
 sdh: {
-  joint_names: ['sdh_finger_11_joint', 'sdh_finger_12_joint', 'sdh_finger_13_joint', 'sdh_finger_21_joint', 'sdh_finger_22_joint', 'sdh_finger_23_joint', 'sdh_thumb_2_joint', 'sdh_thumb_3_joint'],
-  joint_step: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
+  joint_names: ['sdh_knuckle_joint', 'sdh_finger_12_joint', 'sdh_finger_13_joint', 'sdh_finger_22_joint', 'sdh_finger_23_joint', 'sdh_thumb_2_joint', 'sdh_thumb_3_joint'],
+  joint_step: [0.0,0.0,0.0,0.0,0.0,0.0,0.0]
 }