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Debug launch and yaml #1

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merged 6 commits into from
Jun 12, 2021
Merged

Debug launch and yaml #1

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9769861
Update gazebo_controllers.yaml
newcanopies Jun 11, 2021
7eed4d2
Update ur10_gazebo.launch.py
newcanopies Jun 11, 2021
bb10694
match Gazebo update rate
newcanopies Jun 11, 2021
7007a9c
Update gazebo_controllers.yaml
newcanopies Jun 11, 2021
1cbdcab
Update ur10_gazebo.launch.py
newcanopies Jun 11, 2021
90374ea
Update ur10_ros_controllers.yaml
newcanopies Jun 11, 2021
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63 changes: 55 additions & 8 deletions ur10_description/config/gazebo_controllers.yaml
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Original file line number Diff line number Diff line change
@@ -1,22 +1,69 @@
# ur10:
# # Publish all joint states -----------------------------------
# joint_state_controller:
# type: joint_state_controller/JointStateController
# publish_rate: 50

controller_manager:
ros__parameters:
update_rate: 100 # Hz
#update_rate: 100 # Hz
#210611 if NOT set, ur10 dangles down with gravity
#TODO test other values
#update_rate: 1000 # Hz =Gazebo

joint_trajectory_controller:
type: joint_trajectory_controller/JointTrajectoryController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
publish_rate: 50
write_op_modes:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint

joint_state_controller:
type: joint_state_controller/JointStateController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
publish_rate: 50
write_op_modes:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint

joint_trajectory_controller:
ros__parameters:
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
write_op_modes:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
interface_name: position
state_publish_rate: 50.0
action_monitor_rate: 20.0
#state_publish_rate: 25.0
action_monitor_rate: 20.0
61 changes: 31 additions & 30 deletions ur10_gazebo/launch/ur10_gazebo.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -84,39 +84,40 @@ def generate_launch_description():
arguments=['-topic', 'robot_description',
'-entity', 'ur10'],
output='screen')

load_joint_state_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'joint_state_controller'],
output='screen'
)

load_joint_trajectory_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'joint_trajectory_controller'],
output='screen'
)

# Static TF
#static_tf = Node(package='tf2_ros',
# executable='static_transform_publisher',
# name='static_transform_publisher',
# output='log',
# arguments=['0.0', '0.0', '0.65', '0.0', '0.0', '0.0', 'world', 'ur_base'])
#210611
# load_joint_state_controller = ExecuteProcess(
# cmd=['ros2', 'control', 'load_start_controller', 'joint_state_controller'],
# output='screen'
# )

# load_joint_trajectory_controller = ExecuteProcess(
# cmd=['ros2', 'control', 'load_start_controller', 'joint_trajectory_controller'],
# output='screen'
# )

#Static TF
static_tf = Node(package='tf2_ros',
executable='static_transform_publisher',
name='static_transform_publisher',
output='log',
arguments=['0.0', '0.0', '0.65', '0.0', '0.0', '0.0', 'world', 'ur_base'])

return LaunchDescription([
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=spawn_entity,
on_exit=[load_joint_state_controller],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_joint_state_controller,
on_exit=[load_joint_trajectory_controller],
)
),
#210611
# RegisterEventHandler(
# event_handler=OnProcessExit(
# target_action=spawn_entity,
# on_exit=[load_joint_state_controller],
# )
# ),
# RegisterEventHandler(
# event_handler=OnProcessExit(
# target_action=load_joint_state_controller,
# on_exit=[load_joint_trajectory_controller],
# )
# ),
gazebo,
node_robot_state_publisher,
#static_tf,
static_tf,
spawn_entity
])
4 changes: 2 additions & 2 deletions ur10_moveit_config/config/ur10_ros_controllers.yaml
View file
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Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
controller_manager:
ros__parameters:
update_rate: 100 # Hz
#update_rate: 100 # Hz
#update_rate: 1000 # Hz =Gazebo

ur10_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController

joint_state_controller:
type: joint_state_controller/JointStateController


ur10_arm_controller:
ros__parameters:
joints:
Expand Down