Modified codes based on reviews

Signed-off-by: Sungho Woo <[email protected]>
ROBOTIS-GIT · Dec 10, 2024 · 1f83a38 · 1f83a38
1 parent 447e0b7
commit 1f83a38
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Showing 7 changed files with 258 additions and 38 deletions.
diff --git a/open_manipulator_x_bringup/scripts/create_udev_rules b/open_manipulator_x_bringup/scripts/create_udev_rules
diff --git a/open_manipulator_x_description/launch/model.launch.py b/open_manipulator_x_description/launch/model.launch.py
@@ -71,7 +71,7 @@ def generate_launch_description():
         [
             FindPackageShare('open_manipulator_x_description'),
             'rviz',
-            'model.rviz'
+            'open_manipulator_x.rviz'
         ]
     )
 

diff --git a/open_manipulator_x_description/ros2_control/open_manipulator_x_system.ros2_control.xacro b/open_manipulator_x_description/ros2_control/open_manipulator_x_system.ros2_control.xacro
@@ -24,21 +24,22 @@
             <param name="baud_rate">1000000</param>
             <param name="error_timeout_sec">0.2</param>
             <param name="dynamixel_model_folder">/param/dxl_model</param>
-            <param name="number_of_joints">5</param>
+            <param name="number_of_joints">6</param>
             <param name="number_of_transmissions">5</param>
             <param name="transmission_to_joint_matrix">
               1, 0, 0, 0, 0,
               0, 1, 0, 0, 0,
               0, 0, 1, 0, 0,
               0, 0, 0, 1, 0,
-              0, 0, 0, 0, 1
+              0, 0, 0, 0, 1,
+              0, 0, 0, 0, 0
             </param>
             <param name="joint_to_transmission_matrix">
-              1, 0, 0, 0, 0,
-              0, 1, 0, 0, 0,
-              0, 0, 1, 0, 0,
-              0, 0, 0, 1, 0,
-              0, 0, 0, 0, 1
+              1, 0, 0, 0, 0, 0,
+              0, 1, 0, 0, 0, 0,
+              0, 0, 1, 0, 0, 0,
+              0, 0, 0, 1, 0, 0,
+              0, 0, 0, 0, 1, 0
             </param>
             <param name="ros_update_freq">200</param>
             <param name="dynamixel_state_pub_msg_name">dynamixel_hardware_interface/dxl_state</param>
@@ -61,50 +62,44 @@
       </xacro:unless>
 
       <joint name="${prefix}joint1">
-        <command_interface name="position">
-          <param name="min">${-pi*0.1}</param>
-          <param name="max">${pi*0.1}</param>
-        </command_interface>
+        <command_interface name="position"/>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
 
       <joint name="${prefix}joint2">
-        <command_interface name="position">
-          <param name="min">${-pi*0.57}</param>
-          <param name="max">${pi*0.5}</param>
-        </command_interface>
+        <command_interface name="position"/>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
 
       </joint>
       <joint name="${prefix}joint3">
-        <command_interface name="position">
-          <param name="min">${-pi*0.3}</param>
-          <param name="max">${pi*0.44}</param>
-        </command_interface>
+        <command_interface name="position"/>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
 
       <joint name="${prefix}joint4">
-        <command_interface name="position">
-          <param name="min">${-pi*0.57}</param>
-          <param name="max">${pi*0.65}</param>
-        </command_interface>
+        <command_interface name="position"/>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
 
       <joint name="${prefix}gripper_left_joint">
-        <command_interface name="position">
-          <param name="min">-0.01</param>
-          <param name="max">0.019</param>
-        </command_interface>
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${prefix}gripper_right_joint">
+        <param name="mimic">${prefix}gripper_left_joint</param>
+        <param name="multiplier">1</param>
+        <command_interface name="position"/>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>

diff --git a/open_manipulator_x_gui/config/robot_joint_log.csv b/open_manipulator_x_gui/config/robot_joint_log.csv
@@ -0,0 +1,5 @@
+0,-0.998621,0.699837,0.299272,0.0188927
+0,-0.268447,0.20105,0.0828754,0.0188927
+0,-0.934194,0.644587,0.274717,0.0188927
+0,-1.00476,0.699837,0.300807,-0.00990052
+0,-1.00169,0.699837,0.300807,0.0189474
diff --git a/open_manipulator_x_gui/ui/main_window.ui b/open_manipulator_x_gui/ui/main_window.ui
@@ -1161,7 +1161,7 @@
           <item>
            <widget class="QLabel" name="label_40">
             <property name="text">
-             <string>rad</string>
+             <string>m</string>
             </property>
            </widget>
           </item>

diff --git a/open_manipulator_x_moveit_config/config/kinematics.yaml b/open_manipulator_x_moveit_config/config/kinematics.yaml
@@ -1,5 +1,5 @@
 arm:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.05
   kinematics_solver_attempts: 3
-Original file line number
+Diff line change
@@ Expand Up / @@ -71,7 +71,7 @@ def generate_launch_description(): @@
             [
                 FindPackageShare('open_manipulator_x_description'),
                 'rviz',
-                'model.rviz'
+                'open_manipulator_x.rviz'
             ]
         )
@@ Expand Down @@