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Add hand-eye calibration

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This commit is contained in:
Michel Breyer 2021-11-24 17:03:14 +01:00
parent 2f6fdf9c76
commit 79276af66f
2 changed files with 6 additions and 23 deletions
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4
launch/env.launch
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@ -6,11 +6,9 @@
<!-- Load parameters --> <!-- Load parameters -->
<rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" /> <rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" />
<!-- Load robot description -->
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
<!-- Simulated environment --> <!-- Simulated environment -->
<group if="$(arg simulation)"> <group if="$(arg simulation)">
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
<node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" /> <node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
</group> </group>

25
launch/panda.launch
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@ -3,30 +3,12 @@
<arg name="robot_ip" default="172.16.0.2" /> <arg name="robot_ip" default="172.16.0.2" />
<arg name="load_gripper" default="true" /> <arg name="load_gripper" default="true" />
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
<!-- Panda control nodes --> <!-- Panda control nodes -->
<node name="franka_control" pkg="franka_control" type="franka_control_node" output="screen" required="true"> <include file="$(find franka_control)/launch/franka_control.launch">
<rosparam command="load" file="$(find franka_control)/config/franka_control_node.yaml" />
<param name="robot_ip" value="$(arg robot_ip)" />
</node>
<include file="$(find franka_gripper)/launch/franka_gripper.launch" if="$(arg load_gripper)">
<arg name="robot_ip" value="$(arg robot_ip)" /> <arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="load_gripper" value="$(arg load_gripper)" />
</include> </include>
<rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
<rosparam command="load" file="$(find panda_controllers)/config/controllers.yaml" />
<!-- State publisher -->
<node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<param name="rate" value="30"/>
</node>
<!-- Controllers --> <!-- Controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="--stopped position_joint_trajectory_controller cartesian_velocity_controller"/> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="--stopped position_joint_trajectory_controller cartesian_velocity_controller"/>
@ -36,4 +18,7 @@
<arg name="publish_tf" value="false" /> <arg name="publish_tf" value="false" />
</include> </include>
<!-- Hand-eye calibration -->
<node pkg="tf2_ros" type="static_transform_publisher" name="to_camera" args="0.108, -0.019, 0.052 0.000, 0.000, 0.720, 0.694 panda_hand camera_depth_optical_frame" />
</launch> </launch>