From ef5af3b8b21fdf777c1c4338e7f21efe993adb90 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Wed, 11 Dec 2024 21:43:07 -0700 Subject: [PATCH] Adds bar map to navigation and increases the max position limits for the base linear joints --- .../config/moveit/hard_joint_limits.yaml | 8 ++++---- .../config/moveit/joint_limits.yaml | 8 ++++---- .../description/ur5e_ridgeback.xacro | 4 ++-- .../sim/robot_drivers_to_persist_sim.launch.py | 2 +- .../bring_it_sim/maps/bar_map.png | Bin 0 -> 19413 bytes .../bring_it_sim/maps/bar_map.yaml | 6 ++++++ 6 files changed, 17 insertions(+), 11 deletions(-) create mode 100644 src/moveit_pro_ur_configs/bring_it_sim/maps/bar_map.png create mode 100644 src/moveit_pro_ur_configs/bring_it_sim/maps/bar_map.yaml diff --git a/src/moveit_pro_ur_configs/bring_it_sim/config/moveit/hard_joint_limits.yaml b/src/moveit_pro_ur_configs/bring_it_sim/config/moveit/hard_joint_limits.yaml index 8939a72f..99034232 100644 --- a/src/moveit_pro_ur_configs/bring_it_sim/config/moveit/hard_joint_limits.yaml +++ b/src/moveit_pro_ur_configs/bring_it_sim/config/moveit/hard_joint_limits.yaml @@ -17,9 +17,9 @@ 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 @@ -27,9 +27,9 @@ 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 rotational_yaw_joint: has_acceleration_limits: true has_effort_limits: true diff --git a/src/moveit_pro_ur_configs/bring_it_sim/config/moveit/joint_limits.yaml b/src/moveit_pro_ur_configs/bring_it_sim/config/moveit/joint_limits.yaml index 6f517997..10d3eae7 100644 --- a/src/moveit_pro_ur_configs/bring_it_sim/config/moveit/joint_limits.yaml +++ b/src/moveit_pro_ur_configs/bring_it_sim/config/moveit/joint_limits.yaml @@ -17,9 +17,9 @@ 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 @@ -27,9 +27,9 @@ 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 rotational_yaw_joint: has_acceleration_limits: true has_effort_limits: true diff --git a/src/moveit_pro_ur_configs/bring_it_sim/description/ur5e_ridgeback.xacro b/src/moveit_pro_ur_configs/bring_it_sim/description/ur5e_ridgeback.xacro index 53eec4cb..72d2f41c 100644 --- a/src/moveit_pro_ur_configs/bring_it_sim/description/ur5e_ridgeback.xacro +++ b/src/moveit_pro_ur_configs/bring_it_sim/description/ur5e_ridgeback.xacro @@ -70,7 +70,7 @@ - + @@ -81,7 +81,7 @@ - + diff --git a/src/moveit_pro_ur_configs/bring_it_sim/launch/sim/robot_drivers_to_persist_sim.launch.py b/src/moveit_pro_ur_configs/bring_it_sim/launch/sim/robot_drivers_to_persist_sim.launch.py index 349d3268..7e852c92 100644 --- a/src/moveit_pro_ur_configs/bring_it_sim/launch/sim/robot_drivers_to_persist_sim.launch.py +++ b/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", ) diff --git a/src/moveit_pro_ur_configs/bring_it_sim/maps/bar_map.png b/src/moveit_pro_ur_configs/bring_it_sim/maps/bar_map.png new file mode 100644 index 0000000000000000000000000000000000000000..3c3fc9cbd11787daf6b5dd7add04293376c4c13f GIT binary patch literal 19413 zcmeAS@N?(olHy`uVBq!ia0y~yU~d3n4mO~O{vxkq3=E8|na<7up3cq+1x5L3nK`Kp z3>9-~C)#=(4iIVe4|cui#m?Pjk+Q;1%*9n^E0^mEfvnarS)aIH?7mWyM8w?>Zhi3J zeA3l}Ma9ofEU&%g;bH_O@Y~?n|>ib;##-dkP;RjF5OWpdV zd}nGV#bsw+R94u-8xynLB$a>19Y(hKJU6GrYI=B|c;5Kk_}4O>3-#Pz)>IZ}&wKoZ z(c|)(N#+L*DjGyBcvCvRynOrlxA*5g`%}lj-&j=7eqnzAFkaY_yxmr z6M?_}GcYJHc)B=-RNQ)Vd!yiC2Oeg}{m1`q=efGT$LjsGhL(f8=eN~Dbyw_N&k1Ep zu_QoP4IGRT5SD@y11LoSL5DyC)JCOIWupNynnJ+2Vl*#+gJHCA00+ZpX$cO7(dq*n z3=E@%!)W0!niod%0t3zJg+7#>ufvvg~iy-kv_p#I=rR)!zdcB3tIV4|a0ppSNh zKv{Y;c)hMeyJskmJH} z03yU7$YcOvIkYg0cxB?h%W{|%1dcca=wGZqy^PH$BF(Fy=-?|*2#t2f!0BYPhyn-0 zXb}YthSBy5I2c9?2S_lC77n9@!)RU@%?k`z>xCUY3=ALap35j7aK7Ecuw(y&e@qO2 z=J6*$!V9aG(ZLc>;0#b>W3zPNA)w{pwE&~@_`rA=O`?#jI@%Qihr?)V2OJCoR6328 zNQ1OQI=5{mbg9>a-!-EHPQX|i9a;ky6r*E}kYE^;gRh6r?vtI(037<{Ia2U<`B!ocwT zOphP~gGGLMF9SnC5Bun>ComdDv*c)&9Ic+fX<#%jK!RbkdIE<7U8|?jB{-lkC%rNP zSL<)q0jqW3*!+E)hS42{12$JQIvNW~gQMFTL0NHh1pqh{M)y2Jf??3j5B<2cnOPF( zwg$(4*S`PoQf8PTZ~)>|24N=X&h-Q**vy3wM*>8$ffKfl)<6+f)u^#R`;iA)U?t%2 zG^~_?M~{JlvmJCUzzFg3s5eJ*1H*{U^rJaoGzX040ATGu+-vvIj6Sq7It$Zko$p)X RyRtwnQ%_evmvv4FO#l-C6xRR% literal 0 HcmV?d00001 diff --git a/src/moveit_pro_ur_configs/bring_it_sim/maps/bar_map.yaml b/src/moveit_pro_ur_configs/bring_it_sim/maps/bar_map.yaml new file mode 100644 index 00000000..b2ef9019 --- /dev/null +++ b/src/moveit_pro_ur_configs/bring_it_sim/maps/bar_map.yaml @@ -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