F#333 kuka arm #340
F#333 kuka arm #340
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…ld to avoid hand shaking
…blems to moveit. Added forgotten yaml file
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@ugocupcic Sorry for the big delta, it is mostly caused from the newly created MoveIt! package for the shadow+kuka combination. |
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@nrontsis could you update the project.rosinstall to use your kuka branch? |
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Sure! |
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| local-name: lma_kinematics_plugin | |||
| uri: 'https://github.com/shadow-robot/lma_kinematics_plugin' | |||
| version: F_ik_with_joint_limits | |||
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will also need the ros_control branch for this to compile
https://github.com/CentroEPiaggio/ros_control/tree/multi-robot-test
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To compile, yes, because the code is there, to run, no, because @nrontsis deleted the plugin from the URDF. And also changed the transmissions to sr types. I don't think it is the way to go, if you are not in a hurry I would wait a bit for that.
I will (need to) finish the update on the kuka pkg this weekend, where I plan to discard that dependency as well by adding something similar to what COB people did with the enableJointFilter parameter.
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@ugocupcic Is it normal for shippable to fail? |
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@nrontsis some of the tests are failing (due to a timeout). It has nothing to do with your pull request as far as I can tell. We recently added the tools to this repo, so we have a huge amount of roslint errors etc... which makes the result harder to use. |
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@ugocupcic @carlosjoserg I will do a new PR when I have a better implementation of the Kuka+SHADOW combination. |
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@nrontsis I recently updated the kuka package, now there is no more dependency on https://github.com/CentroEPiaggio/ros_control/tree/multi-robot-test There is a pretty definite structure of the arm HW real/sim. Now there is a particular lwr 4+ plugin that uses a very simple gazebo interface (all ros control code is in the abstract class lwr_hw). The plugin can read a full robot description, since it wukk handle only the joints that belong to the arm instance by name, and then parses only transmissions of those joints (it is the opposite way in the gazebo_ros_control plugin). That's what I meant as a suggestion for the shadow hand plugin, you can write it that it handles only hand joints, and parse the sr transmission types, so both can coexist without problems. Looking forward to see the shadow ✋ mounted on the kuka. |
Working Kuka arm with shadow hand, with MoveIt! integrated! :)
You have to first install my fork of kuka-lwr (branch
adaptations_for_SHADOW):https://github.com/nrontsis/kuka-lwr/tree/adaptations_for_SHADOW
Then you can run the combined robot (including MoveIt!) with:
roslaunch sr_robot_launch right_srhand_lwrarm.launch load_moveit:=trueThis solves only partially F#333.