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Adds bar map to navigation and increases the max position limits for … #51

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Merged
henningkayser merged 1 commit into from
Dec 12, 2024
Merged

Adds bar map to navigation and increases the max position limits for … #51

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8 changes: 4 additions & 4 deletions src/moveit_pro_ur_configs/bring_it_sim/config/moveit/hard_joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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8 changes: 4 additions & 4 deletions src/moveit_pro_ur_configs/bring_it_sim/config/moveit/joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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4 changes: 2 additions & 2 deletions src/moveit_pro_ur_configs/bring_it_sim/description/ur5e_ridgeback.xacro
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Expand Up @@ -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>

Expand All @@ -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>

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2 changes: 1 addition & 1 deletion src/moveit_pro_ur_configs/bring_it_sim/launch/sim/robot_drivers_to_persist_sim.launch.py
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Expand Up @@ -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",
)

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Binary file added src/moveit_pro_ur_configs/bring_it_sim/maps/bar_map.png
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6 changes: 6 additions & 0 deletions src/moveit_pro_ur_configs/bring_it_sim/maps/bar_map.yaml
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@@ -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
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