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Add move_to_pose_server and iiwa_msgs package with service definition

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- Implement move_to_pose_server for motion planning using MoveIt
- Create iiwa_msgs package with MoveToPose service definition
- Update iiwa.launch.py to include move_to_pose_server node
- Modify joint_limits.yaml to add position limits for joints
- Remove iiwa_voice package and related files
This commit is contained in:
Даниил Грабарь
2026-05-05 18:37:04 +10:00
parent 6b4ff4f8b6
commit 748f30b1d1
18 changed files with 167 additions and 296 deletions
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src/iiwa_config/config/moveit/joint_limits.yaml
+28
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@@ -9,38 +9,66 @@ default_acceleration_scaling_factor: 0.1
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
joint1:
has_position_limits: true
min_position: -2.97
max_position: 2.97
has_velocity_limits: true
max_velocity: 1.71
has_acceleration_limits: true
max_acceleration: 8.5521
has_jerk_limits: false
joint2:
has_position_limits: true
min_position: -2.09
max_position: 2.09
has_velocity_limits: true
max_velocity: 1.71
has_acceleration_limits: true
max_acceleration: 8.5521
has_jerk_limits: false
joint3:
has_position_limits: true
min_position: -2.97
max_position: 2.97
has_velocity_limits: true
max_velocity: 1.75
has_acceleration_limits: true
max_acceleration: 8.7266
has_jerk_limits: false
joint4:
has_position_limits: true
min_position: -2.09
max_position: 2.09
has_velocity_limits: true
max_velocity: 2.27
has_acceleration_limits: true
max_acceleration: 11.3446
has_jerk_limits: false
joint5:
has_position_limits: true
min_position: -2.97
max_position: 2.97
has_velocity_limits: true
max_velocity: 2.4399999999999999
has_acceleration_limits: true
max_acceleration: 12.2173
has_jerk_limits: false
joint6:
has_position_limits: true
min_position: -2.09
max_position: 2.09
has_velocity_limits: true
max_velocity: 3.1400000000000001
has_acceleration_limits: true
max_acceleration: 15.7080
has_jerk_limits: false
joint7:
has_position_limits: true
min_position: -3.05
max_position: 3.05
has_velocity_limits: true
max_velocity: 3.1400000000000001
has_acceleration_limits: true
max_acceleration: 15.7080
has_jerk_limits: false