qlin/sas_robot_driver_franka
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minor renaming of file and working coppelia node

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qlin960618
2024-08-16 11:30:58 +09:00
parent 94a32a0f0c
commit 900f6aa2e1
18 changed files with 504 additions and 404 deletions
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25
launch/sas_robot_driver_franka_example.py
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@@ -13,16 +13,33 @@ def generate_launch_description():
"robot_ip_address": "172.16.0.4",
"thread_sampling_time_sec": 0.004,
# "thread_sampling_time_nsec": 4000000,
"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895],
"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094, 2.6895],
"q_min": [-2.3093, -1.5133, -2.4937, -2.7478, -2.4800, 0.8521, -2.6895],
"q_max": [2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094, 2.6895],
"force_upper_limits_scaling_factor": 4.0,
"upper_torque_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0, 40.0],
"upper_force_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0],
"robot_mode": "VelocityControl",
"robot_parameter_file_path": os.environ["ROBOT_3_JSON_PATH"]
}],
output="screen"
output="screen"
),
Node(
package='sas_robot_driver_franka',
executable='sas_robot_driver_franka_coppelia_node',
name='arm3_coppelia',
parameters=[{
"thread_sampling_time_sec": 0.008,
"vrep_ip": os.environ["VREP_IP"],
"vrep_port": 20012,
"vrep_dynamically_enabled": True,
"using_real_robot": True,
"vrep_joint_names": ["Franka_joint1#1", "Franka_joint2#1", "Franka_joint3#1", "Franka_joint4#1",
"Franka_joint5#1", "Franka_joint6#1", "Franka_joint7#1"],
"robot_topic_prefix": "/arm3",
"robot_mode": "VelocityControl",
"robot_parameter_file_path": os.environ["ROBOT_3_JSON_PATH"]
}],
output="screen"
),
])

27
launch/sas_robot_driver_franka_simulation_example.py Normal file
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@@ -0,0 +1,27 @@
from launch import LaunchDescription
from launch_ros.actions import Node
import os
def generate_launch_description():
return LaunchDescription([
Node(
package='sas_robot_driver_franka',
executable='sas_robot_driver_franka_coppelia_node',
name='arm3_coppelia',
parameters=[{
"thread_sampling_time_sec": 0.008,
"vrep_ip": os.environ["VREP_IP"],
"vrep_port": 20012,
"vrep_dynamically_enabled": True,
"using_real_robot": False,
"vrep_joint_names": ["Franka_joint1#1", "Franka_joint2#1", "Franka_joint3#1", "Franka_joint4#1",
"Franka_joint5#1", "Franka_joint6#1", "Franka_joint7#1"],
"robot_topic_prefix": "/arm3",
"robot_mode": "VelocityControl",
"robot_parameter_file_path": os.environ["ROBOT_3_JSON_PATH"]
}],
output="screen"
),
])