diff --git a/src/iiwa_bringup/launch/digital_twin.launch.py b/src/iiwa_bringup/launch/digital_twin.launch.py index 52b46b9..0be8636 100644 --- a/src/iiwa_bringup/launch/digital_twin.launch.py +++ b/src/iiwa_bringup/launch/digital_twin.launch.py @@ -38,7 +38,7 @@ def _runtime_setup(context, *args, **kwatgs): executable="robot_state_publisher", name="robot_state_publisher", output="screen", - parameters=[{"robot_description": robot_description, "use_sim_time": False}], + parameters=[{"robot_description": robot_description, "use_sim_time": True}], ) webots_launch = IncludeLaunchDescription( @@ -88,17 +88,19 @@ def _runtime_setup(context, *args, **kwatgs): parameters=[ moveit_configs.to_dict(), {"robot_description": robot_description}, + {"use_sim_time": True}, ], ) # TODO: не забудь поменять правильное название и имя пакета - moveit_py_node = Node( - # name="motion_planning_node", - package="iiwa_planning", - executable="motion_planning", - output="both", - parameters=[moveit_configs.to_dict()], - ) + # moveit_py_node = Node( + # # name="motion_planning_node", + # package="iiwa_planning", + # executable="motion_planning", + # output="both", + # parameters=[moveit_configs.to_dict()], + # ) + rviz_launch = Node( condition=IfCondition(LaunchConfiguration("rviz")), @@ -110,9 +112,9 @@ def _runtime_setup(context, *args, **kwatgs): parameters=[ moveit_configs.robot_description, moveit_configs.robot_description_semantic, - moveit_configs.robot_description_kinematics, moveit_configs.planning_pipelines, - moveit_configs.joint_limits, + moveit_configs.planning_scene_monitor, + {"use_sim_time": True}, ], ) @@ -124,7 +126,7 @@ def _runtime_setup(context, *args, **kwatgs): rsp_node, webots_launch, move_group, - moveit_py_node, + # moveit_py_node, rviz_launch, shutdown_on_rviz_exit, ] diff --git a/src/iiwa_bringup/launch/supported/webots_controllers.launch.py b/src/iiwa_bringup/launch/supported/webots_controllers.launch.py index fb307f1..05733c4 100644 --- a/src/iiwa_bringup/launch/supported/webots_controllers.launch.py +++ b/src/iiwa_bringup/launch/supported/webots_controllers.launch.py @@ -30,7 +30,7 @@ def _setup_controllers(context, *args, **kwargs): executable="spawner", output="screen", arguments=["joint_state_broadcaster"] + tmo, - parameters=[{"use_sim_time": False}], + parameters=[{"use_sim_time": True}], ) jtc = Node( @@ -38,7 +38,7 @@ def _setup_controllers(context, *args, **kwargs): executable="spawner", output="screen", arguments=["iiwa_arm_controller"] + tmo, - parameters=[{"use_sim_time": False}], + parameters=[{"use_sim_time": True}], ) torque_controller_spawner = Node( @@ -47,7 +47,7 @@ def _setup_controllers(context, *args, **kwargs): output="screen", arguments=["forward_torque_controller", "--inactive"] + tmo, - parameters=[{"use_sim_time": False}] + parameters=[{"use_sim_time": True}] ) spawner_urdf = URDFSpawner( diff --git a/src/iiwa_bringup/launch/supported/webots_spawn.launch.py b/src/iiwa_bringup/launch/supported/webots_spawn.launch.py index d722dfb..0b82609 100644 --- a/src/iiwa_bringup/launch/supported/webots_spawn.launch.py +++ b/src/iiwa_bringup/launch/supported/webots_spawn.launch.py @@ -34,7 +34,7 @@ def _spawn_setup(context, *args, **kwargs): parameters=[ { "robot_description": description, - "use_sim_time": False, + "use_sim_time": True, "set_robot_state_publisher": False, }, controller, diff --git a/src/iiwa_config/config/moveit/iiwa7.srdf b/src/iiwa_config/config/moveit/iiwa7.srdf index 43aa82f..375d3bf 100644 --- a/src/iiwa_config/config/moveit/iiwa7.srdf +++ b/src/iiwa_config/config/moveit/iiwa7.srdf @@ -10,7 +10,7 @@ - + @@ -19,9 +19,6 @@ - - - @@ -42,13 +39,14 @@ - + + + - @@ -70,4 +68,4 @@ - \ No newline at end of file + diff --git a/src/iiwa_config/config/rviz/rviz_moveit.rviz b/src/iiwa_config/config/rviz/rviz_moveit.rviz index 0835f0c..192ae56 100644 --- a/src/iiwa_config/config/rviz/rviz_moveit.rviz +++ b/src/iiwa_config/config/rviz/rviz_moveit.rviz @@ -135,7 +135,7 @@ Visualization Manager: State Display Time: 3x Trail Step Size: 1 Trajectory Topic: /display_planned_path - Use Sim Time: false + Use Sim Time: True Planning Metrics: Payload: 1 Show Joint Torques: false diff --git a/src/iiwa_description/resource/meshes/gripper/base_frame.stl b/src/iiwa_description/resource/meshes/gripper/base_frame.stl new file mode 100644 index 0000000..ad87404 Binary files /dev/null and b/src/iiwa_description/resource/meshes/gripper/base_frame.stl differ diff --git a/src/iiwa_description/resource/meshes/gripper/craving.stl b/src/iiwa_description/resource/meshes/gripper/craving.stl new file mode 100644 index 0000000..fa27edb Binary files /dev/null and b/src/iiwa_description/resource/meshes/gripper/craving.stl differ diff --git a/src/iiwa_description/resource/meshes/gripper/finger.stl b/src/iiwa_description/resource/meshes/gripper/finger.stl new file mode 100644 index 0000000..f0332d8 Binary files /dev/null and b/src/iiwa_description/resource/meshes/gripper/finger.stl differ diff --git a/src/iiwa_description/resource/meshes/gripper/plate.stl b/src/iiwa_description/resource/meshes/gripper/plate.stl new file mode 100644 index 0000000..bf3af7b Binary files /dev/null and b/src/iiwa_description/resource/meshes/gripper/plate.stl differ diff --git a/src/iiwa_description/resource/meshes/gripper/screw.stl b/src/iiwa_description/resource/meshes/gripper/screw.stl new file mode 100644 index 0000000..8145007 Binary files /dev/null and b/src/iiwa_description/resource/meshes/gripper/screw.stl differ diff --git a/src/iiwa_description/urdf/gripper.urdf b/src/iiwa_description/urdf/gripper.urdf new file mode 100644 index 0000000..6a4bee9 --- /dev/null +++ b/src/iiwa_description/urdf/gripper.urdf @@ -0,0 +1,167 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/iiwa_description/urdf/iiwa7.urdf b/src/iiwa_description/urdf/iiwa7.urdf deleted file mode 100644 index 289d447..0000000 --- a/src/iiwa_description/urdf/iiwa7.urdf +++ /dev/null @@ -1,295 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - webots_ros2_control::Ros2ControlSystem - - - - - - 0 - - - - - - 0 - - - - - - 0 - - - - - - 0 - - - - - - 0 - - - - - - 0 - - - - - - 0 - - - -