Adds bar map to navigation and increases the max position limits for the base linear joints (#51)

Author: griswaldbrooks

src/moveit_pro_ur_configs/bring_it_sim/config/moveit/hard_joint_limits.yaml

@@ -17,19 +17,19 @@ joint_limits:
     has_velocity_limits: true
     max_acceleration: 0.1
     max_effort: 150.0
-    max_position: 5.0
+    max_position: 20.0
     max_velocity: 0.175
-    min_position: -5.0
+    min_position: -20.0
   linear_y_joint:
     has_acceleration_limits: true
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_acceleration: 0.1
     max_effort: 150.0
-    max_position: 5.0
+    max_position: 20.0
     max_velocity: 0.175
-    min_position: -5.0
+    min_position: -20.0
   rotational_yaw_joint:
     has_acceleration_limits: true
     has_effort_limits: true

src/moveit_pro_ur_configs/bring_it_sim/config/moveit/joint_limits.yaml

@@ -17,19 +17,19 @@ joint_limits:
     has_velocity_limits: true
     max_acceleration: 0.02
     max_effort: 150.0
-    max_position: 5.0
+    max_position: 20.0
     max_velocity: 0.175
-    min_position: -5.0
+    min_position: -20.0
   linear_y_joint:
     has_acceleration_limits: true
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
     max_acceleration: 0.02
     max_effort: 150.0
-    max_position: 5.0
+    max_position: 20.0
     max_velocity: 0.175
-    min_position: -5.0
+    min_position: -20.0
   rotational_yaw_joint:
     has_acceleration_limits: true
     has_effort_limits: true

src/moveit_pro_ur_configs/bring_it_sim/description/ur5e_ridgeback.xacro

@@ -70,7 +70,7 @@
     <parent link="world" />
     <child link="virual_rail_link_1" />
     <origin xyz="0 0 0" rpy="0 0 0" />
-    <limit effort="1000.0" lower="-5.0" upper="5.0" velocity="0.175" acceleration="10.0"/>
+    <limit effort="1000.0" lower="-20.0" upper="20.0" velocity="0.175" acceleration="10.0"/>
     <dynamics damping="20.0" friction="500.0" />
   </joint>
 
@@ -81,7 +81,7 @@
     <parent link="virual_rail_link_1" />
     <child link="virual_rail_link_2" />
     <origin xyz="0 0 0" rpy="0 0 0" />
-    <limit effort="1000.0" lower="-5.0" upper="5.0" velocity="0.175" acceleration="10.0"/>
+    <limit effort="1000.0" lower="-20.0" upper="20.0" velocity="0.175" acceleration="10.0"/>
     <dynamics damping="20.0" friction="500.0" />
   </joint>
 

src/moveit_pro_ur_configs/bring_it_sim/launch/sim/robot_drivers_to_persist_sim.launch.py

@@ -127,7 +127,7 @@ def generate_launch_description():
 
     declare_map_yaml_cmd = DeclareLaunchArgument(
         "map",
-        default_value=os.path.join(config_dir, "maps", "empty_map.yaml"),
+        default_value=os.path.join(config_dir, "maps", "bar_map.yaml"),
         description="Full path to map yaml file to load",
     )
 

src/moveit_pro_ur_configs/bring_it_sim/maps/bar_map.png

@@ -0,0 +1,6 @@
+image: bar_map.png
+resolution: 0.0073
+origin: [-7.000000, -2.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196